Robotics research continuously seeks to improve productivity in manufacturing automation. With the recent advances in the areas of vision and sensing, robots have become a major element of today's industrial world. They have been beneficial in replacing humans not only in tasks at which robots are more efficient but also in those that humans find undesirable because they are strenuous, boring, difficult, or hazardous. IF. the last several yeats, more and more efforts have been put in the integration of multiple sensors into robot systems. The goal is to make robots more adaptive and flexible in unstructured or frequently changing environments, and to enable robots to execute intelligent tasks. Thus the robot productivity as well as applicability can be improved.