A configurable CAD-based object recognition system for varying resolution 3D-sensors

This paper presents a configurable CAD-based object recognition system for varying resolution 3D sensors such as Time-Of-Flight (ToF) cameras and laser scanners. The object recognition system is used for recognizing and localizing target objects on the basis of the geometric and topological information extracted from STEP-files. The novelty of our system is its configurability, i.e. its ability to adjust the level of detail of the database object models to the properties of the applied sensor system, e.g., resolution, accuracy and signal to noise ratio.