Abstract
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 language | English |
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Title of host publication | IEEE Int. Conf. on Robotics and Automation (ICRA) |
Publisher | IEEE |
Pages | link & page no. is not available yet |
Publication status | Published - May 2021 |
Event | 2021 IEEE International Conference on Robotics and Automation - Xi'an, China Duration: 30 May 2021 → 5 Jun 2021 https://www.ieee-icra.org/ |
Conference
Conference | 2021 IEEE International Conference on Robotics and Automation |
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Abbreviated title | IEEE ICRA 2021 |
Country/Territory | China |
City | Xi'an |
Period | 30/05/21 → 5/06/21 |
Internet address |