3D object recognition without CAD models for industrial robot manipulation

In this work we present a new algorithm for 3D object recognition. The goal is to identify the correct position and orientation of complex objects without using a CAD model, input of main current systems. The approach we follow performs feature matching. The characteristics extracted belong only by shape information to achieve a system independent to brightness, colour or texture. Designing opportune settable parameters, we allow recognition also in presence of small deformations