Isra Vision offers a 3D sensor with an embedded PC for 3D point cloud comparison that combines triangulation, stereometry and phase-shifting fringe projection, making it suitable for 3D shape measurement and 3D robot guidance. Checking a flat surface for bulges and dents, checking the diameter of openings or capturing a free-form surface for CAD comparison are tasks that can arise during the inspection of one and the same sheet metal or injection-molded part. Based on stereometry and active triangulation, the 3D sensor can perform these tasks in just one measuring cycle, contact-free and at different speeds, by varying the type of illumination. Thanks to its stereometric design with two cameras, the sensor uses triangulation to precisely map the surface properties of the test object in three dimensions. Depending on the setting, it uses a striped or random pattern for illumination. With fringe projection, a temporal sequence of parallel line patterns with different brightness values is projected onto the object. The cameras record the images of the modulated brightness distributions at the known angle of view (triangulation angle) and pass them on to an algorithm that can calculate the object coordinates from them. The line patterns can be adjusted by projecting the fringe pattern over a micromirror array.