Planning for inspection based on CAD models

Describes a knowledge-based inspection planning system for solid objects. The goals of intelligent inspection planning include determining which entities (edges, etc.) of the object should be measured, what camera locations and viewing directions should be used to perform inspection, and how the search for these entities and their inspection can be robustly and efficiently done once the sensor data is obtained. An effective solution to this problem is clearly very important not only from the automation point of view but also in order to gather and use sensor information effectively given the volume and complexity of required information for adequate performance