Figure 1.

The overview of our system. (a) Calibration and 3D reconstruction using structured light; (b) representation through the point cloud; (c) calculation of multiple structures; (d) estimation of normal vectors by principal component analysis; (e) calculation of the contribution of each model to the formation of the region; (f) construction of a histogram as a 3D local descriptor; (g) classification of the point cloud in primitives; (h) surface defect recognition. MPFH: Model Points Feature Histogram.