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G. Biegelbauer, M. Vincze:
"Fast and Robust Bore Detection in Range Image Data for Industrial Automation";
Talk: IEEE International Symposium on 3D Data Processing,Visualization and Industrial Automation, Thessaloniki; 2004-09-06 - 2004-09-09; in: "Proceedings of 3DPVT 2004", (2004), 8 pages.

This paper presents a fast and robust method to precisely
segment and locate bore holes of 4 to 50mm diameter.
The task is solved by a robot moving a compact triangulation
scanning sensor to all sides of the object and scanning
the bore holes. Exploiting the knowledge about the
expected bore diameter and bore pose makes it possible to
develop highly robust algorithms for an industrial application.
Sparse data of the bore hole is sufficient to segment the
bore independent of bore hole chamfer type using a robust
normal vector fit and a classification based on the Gaussian
image. A sequential algorithm to fit the bore cylinder makes
it possible to calculate the bore pose in less than 1 second.
Experiments demonstrate that 120 degrees of the bore hole
surface are sufficient for robust localization within 0.3mm
and 0.5 degrees even in the presence of ghost points and
notches in the bore holes.

http://aleph.ub.tuwien.ac.at/F?base=tuw01&func=find-c&ccl_term=AC04967693