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This paper describes a vision system which recognizes 3-D objects in real-time by modeling the shapes of objects and matching the generated m o dels. We have developed the following methods for practically solving important problems of integration such as the estimation of sensor accuracy as well as real-time processing: 1) We reduce t h e c omputation of signed-distance, which is necessary to apply the Marching Cubes Algorithm, and select the optimal resolution of models to be generated u s idoi:10.1109/iros.2000.894587 dblp:conf/iros/SagawaOKII00 fatcat:vjkdxzfbhjfsdprcd5fsedxghy