A CAD System Based on Spherical Dual Representations

Abstract

Computer-aided design (CAD) systems typically have many different functions: drafting, two-dimensional modeling, three-dimensional modeling, finite element analysis, and fit and tolerancing of parts. The authors report on the construction of a CAD system based on shape representation ideas used in the vision community to determine the shape of an object from its image. In the long term, they propose to construct a combined CAD and sensing system based on the same underlying object models. Considerable advantages follow from building a model-driven sensor fusion system that uses a common geometric model. In a manufacturing environment, for example, a library of objects can be built up and its models used in a vision and touch sensing system integrated into an automated assembly line to discriminate between objects and determine orientation and distance. If such a system could be made robust and highly reliable, then some of the most difficult problems that plague attempts to create a fully flexible automated environment would be solved.