A Robotic Defect Inspection System for Free-Form Specular Surfaces

Shengzeng Huo, David TW Chik, David Navarro-Alarcon

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review


In this paper, we present a robotic system to automatically perform defect inspection tasks over free-form specular surfaces, which the image acquisition sub-system is equipped with a 6-DOF robot manipulator to achieve flexible scanning. Given the mesh model of the workpiece, we implement K-means based region segmentation algorithm on the point cloud after preprocessing. Then, we take the smooth regions as input to plan the scanning path. A projection registration method that robustly localizes the object in the robot’s frame is proposed for real-time workpiece localization. According to the optical features of the high-resolution line scan, we design an image processing pipeline to detect defects from the captured images. We report a detailed experimental study to validate the proposed methodology.
Original languageEnglish
Title of host publicationIEEE Int. Conf. on Robotics and Automation (ICRA)
Pageslink & page no. is not available yet
Publication statusPublished - May 2021
Event 2021 IEEE International Conference on Robotics and Automation - Xi'an, China
Duration: 30 May 20215 Jun 2021


Conference 2021 IEEE International Conference on Robotics and Automation
Abbreviated titleIEEE ICRA 2021
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