CAD-based robot vision: from CAD models to vision models

The authors focus on an open problem in the area of 3D object recognition-vision model building for 3D objects. The integration of a CAD system and robot vision system and led to a third type of vision model building for robot vision system: adaptation of pre-existing CAD models of objects for recognition. The authors developed a CAD system that contains polyhedral approximation solid modeling and quadratic rational surfaces. They are developing a robot vision system which uses 3D object description created on the CAD system and expressed in the industry standard PDES (Product Data Exchange Specification) and which performs geometric inferencing to obtain a vision model which can be stored in a database of models for 3D object recognition