A Robotic Defect Inspection System for Free-form Specular Surfaces

Huo, Shengzeng; Navarro-Alarcon, David; Chik, David

doi:10.1109/icra48506.2021.9561265

Cited by 2 publications

(1 citation statement)

References 21 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This assumption is reasonable due to the development of computer-aided design technology and the current manufacturing level [15]. Since mesh models consist of many vertices and surfaces (which might be difficult to process), we sample points from the mesh model to facilitate 1 A preliminary version of this work was presented in [13]. In this paper, we further extend the previous work in six aspects: (1) We utilize the characteristics of the mesh to distinguish the interior surface and the exterior surface; (2) We develop a geometric model to analyze the acquisition of the line scanner; (3) We guarantee the inspection completeness through adaptive path planning based on our proposed acquisition model; (4) We improve the efficiency of the scanning through constrained optimization; (5) We utilize the relative motion between the sensor and the object to reconstruct the defects on the CAD model; (6) We provide detailed experimental results to highlight the superiority of our system compared with the baselines on various aspects, including region segmentation, registration, image acquisition, and image processing.…”

Section: A Sampling and Preprocessingmentioning

confidence: 99%

A Sensor-Based Robotic Line Scan System With Adaptive ROI for Inspection of Defects Over Convex Free-Form Specular Surfaces

et al. 2022

Self Cite

View full text Add to dashboard Cite

In this paper, we present a novel sensor-based system to perform defect inspection tasks automatically over free-form specular surfaces. The inspection procedure is performed by a robotic manipulator equipped with a line scanner system. Taking the geometric and optical parameters into consideration, our algorithm computes a flexible scanning path. Based on a mesh model, the system segments the convex surface into areas with similar curvatures, then adaptively adjusts the line sensor's scanning range to ensure the complete coverage of the surface. We consider the scanning efficiency through constrained optimization. To align the computed scanning path with the specular object, a real-time workpiece localization algorithm in a coarse-to-fine manner is developed. Our control framework synchronizes the motion of the manipulator and the acquisition of the line scanner for robotic inspection. We also provide an image processing pipeline for automatic defect detection. To validate the proposed formal methodology, we report a detailed experimental study with the developed robotic inspection prototype.

show abstract