Böhm, Jan2006-10-172016-03-312006-10-172016-03-312005262708965http://nbn-resolving.de/urn:nbn:de:bsz:93-opus-28327http://elib.uni-stuttgart.de/handle/11682/3738http://dx.doi.org/10.18419/opus-3721This paper aims at developing a model-based system for the object recognition of three-dimensional objects with curved surfaces using range images. The model data is represented using a CAD-model, providing a mathematical precise and reliable description of arbitrary shapes. The proposed method is based on model-based range image segmentation, using curvature as invariant features. By integrating model information into the segmentation stage, the segmentation process is guided to provide a partitioning corresponding to that of the CAD-model. The work provides a way to detect objects in arbitrary positions and derive the transformation onto a CAD-model. Thereby it contributes to the development of automated systems in the areas of inspection, manufacturing and robotics.eninfo:eu-repo/semantics/openAccessSegmentierung , CAD620range image , object recognitionconferenceObject2015-12-10