Registration of 2D Objects in 3D data

Abstract: In the field of industrial automation large savings can be realized if position andorientation of an object is known. Knowledge about an objects position and orien-tation can be used by advanced robotic systems to be able to work with complexitems. Specifically 2D-objects are a big enough sub domain to motivate specialattention. Traditionally this problem has been solved with large mechanical sys-tems that forces the objects into specific configurations. Besides being expensive,taking up a lot of space and having great difficulty handling fragile items, thesemechanical systems have to be constructed for each particular type of object. Thisthesis explores the possibility of using registration algorithms from computer vi-sion based on 3D-data to find flat objects. While systems for locating 3D objectsalready exists they have issues with locating essentially flat objects since theirpositioning is mostly a function of their contour. The thesis consists of a briefexamination of 2D-algorithms and their extension to 3D as well as results fromthe most suitable algorithm.