A Robotic Defect Inspection System for Free-form Specular Surfaces

Shengzeng Huo, David Navarro-Alarcon, David T.W. Chik

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

1 Citation (Scopus)

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 languageEnglish
Title of host publication2021 IEEE International Conference on Robotics and Automation, ICRA 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages11364-11370
Number of pages7
ISBN (Electronic)9781728190778
DOIs
Publication statusPublished - Oct 2021
Event2021 IEEE International Conference on Robotics and Automation, ICRA 2021 - Xi'an, China
Duration: 30 May 20215 Jun 2021

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2021-May
ISSN (Print)1050-4729

Conference

Conference2021 IEEE International Conference on Robotics and Automation, ICRA 2021
Country/TerritoryChina
CityXi'an
Period30/05/215/06/21

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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