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M. Vincze, A. Pichler, G. Biegelbauer, K. Häusler, H. Andersen, O. Madsen, M. Kristiansen:
"Automatic Robotic Spray Painting of Low Volume High Variant Parts";
Vortrag: 33rd International Symposium on Robotics (ISR) 2002, Stockholm, Schweden; 07.10.2002 - 11.10.2002; in: "Proceedings of ISR '02", (2002).

With the advance in IT technology sensors and
processing power exist to achieve fully automated
robot programming in industrial tasks. This paper
reports on the EU-project FlexPaint, which devised a
methodology to automatically generate robot
programs for spray painting of unknown parts. The
solution uses four steps: laser triangulation sensing,
geometric feature detection, tool path planning, and
the generation of the collision-free executable robot
program. Demonstrations at industrial partners show
the results.

http://www.infa.tuwien.ac.at/groups/robtec/Veroeff/ISR_02_paper.pdf