Model-Based Vision Using Relational Summaries

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Abstract
A CAD-to-vision system is a computer system that inputs a CAD model of an object and outputs a vision model and matching procedure by which that object can be recognized and/or its position and orientation determined. CAD-model-based systems are extremely useful for industrial vision tasks where a number of different manufactured parts must be automatically manipulated and/or inspected. Another area where vision systems based on CAD models is becoming important is in the United States space program. Since the space station and space vehicles are recent or even current designs, we can expect to have CAD models of these objects to work with. Vision tasks in space such as docking and tracking of vehicles, guided assembly tasks, and inspection of the space station itself for cracks and other problems can rely on model-directed vision techniques.

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