Contributions to a 3-D robot vision system

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"This contribution originates in the framework of the interdisciplinary, application oriented project "Cooperating Robot" (COR). It contributes to the realization of a robot vision system for the task defined in the project: to build a robot capable of recognizing and clearing objects placed on a tray in a cafeteria. It addresses problems of acquiring 3-D informaiton of transparent and specularly reflecting objects, robust and fast multi-knowledge source recognition scheme and precise object position determination"--Page ix