In consultation with business area manager of OEM’s machine vision products, Miikka Himanka, Jansson undertook a special project for OEM Finland Oy, building a reference application that highlights 3D imaging capabilities, as well as writing a thesis1. Their intention was to provide a comprehensive example and overview of the subject that familiarizes users with basic concepts of 2D and 3D imaging, as well as the steps of designing, building, and testing the reference application. The reference application focuses on object recognition and positioning using a 3D imaging device. The objects in question were stainless-steel cogwheels of various sizes and heights; these were set on a pallet, where some were level and some had a certain degree of tilt. A 3D scanner2 surveyed the entire pallet; objects were located using Geometric Model Finder on the acquired depth-map, which enables the use of powerful 2D tools on a 3D scene. Functions of this application include object model recognition, detecting the topmost object among several objects, and determining the position and angle of the topmost object.