CAD-based Object Recognition for a Sensor/Actor Measurement Robot

Seven institutes of the University of Stuttgart have applied successfully for the funding of a special research field to set up and investigate a multi-sensor measurement robot for industrial close range inspection. The application was preceded by the work of a research group which has shown the feasibility of the approach by setting up a measurement cell which uses optical sensors and actors to identify and gauge industrial objects located in the measurement volume. This paper describes the results that have been obtained so far and were demonstrated during a test run in 1997. It then focuses on our latest developments concerning 3D data acquisition, registration, segmentation, model generation from CAD data and object recognition.