Abstract: This paper presents an intelligent multisensor system for 3D metrology tasks, which combines 2D intensity data coming from a CCD-camera and 2D range data delivered by a light stripe triangulation sensor. Due to the high data-rates both of the image processing system as well as the range sensor the multisensor system can perform the 3D-inspection of moving parts, making the system well suited for manufacturing lines based on closed loop sensing and control technology. The basic approach described herein makes use of intensity data for guiding the light stripe sensor in X- and Y-direction to areas of interest on the specimens surface. Guidance information is derived from a symbolic scene description created during a three stage segmentation algorithm. The segmentation algorithm consists of edge detection, Kalman-filter based contour tracking and contour approximation.!25
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