Due to the continuing progress of sensor technology, the availability of 3-D c- eras is already foreseeable. These cameras are capable of generating a large set of measurement points within a very short time. There is a variety of 3-D camera - plications in the ?elds of robotics, rapid product development and digital factories. In order to not only visualize the point cloud but also to recognize 3-D object m- els from the point cloud and then further...