Document Type

Conference Proceeding

Publication Date

2021

DOI

10.1109/ICRA48506.2021.9561265

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.

Source Publication

2021 IEEE International Conference on Robotics and Automation (ICRA)

ISSN

2577-087X

ISBN

978-1-7281-9077-8

First Page

11364

Last Page

11370

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