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A. Pichler, M. Vincze, H. Andersen, O. Madsen, K. Häusler:
"Automatic Robot Painting of Parts in Batch Size One";
Vortrag: Robotik 2002, Ludwigsburg, Deutschland; 19.06.2002 - 20.06.2002; in: "VDI Berichte 1679", (2002), ISBN: 3-18-091679-6; S. 23 - 26.

Today industrial automation of spray painting is limited to high part volumes and robot trajectories that
are programmed by off-line programming and manual teach-in. This paper presents an approach that uses
range image data to obtain the geometry of an unknown part and to automatically generate the robot spray
painting trajectories. Laser strip range sensors are installed in front of the paint booth to acquire a range image
of the part. Utilizing process knowledge (a geometric library containing descriptions of different geometric
features relevant for the painting application) geometric primitives are detected in the range data. From the
geometric primitives a normal vector field is generated that enables to extract main faces. The main faces are
located in 3D space and the process knowledge related to each geometric primitive is utilized to obtain the
trajectory for the paint gun. Results of painting a car mirror and a steering column are given.

http://www.infa.tuwien.ac.at/groups/robtec/Veroeff/robotik02abstract4pages.pdf