In this project Cybernet developed a CAD-based vision system for robot guidance. The system operates on a Macintosh computer platform, provides for user programmed image preprocessing of data collected from multiple cameras, and incorporates a model-based combinatorial matching subsystem that supports detection, identification, and location of objects that have been described to the system using a high level CAD-type constraint description language. The system provides the necessary software systems to implement advanced image and FLIR automatic target recognition and cueing system. The Phase II SBIR effort was funded in 1993.