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http://hdl.handle.net/10397/95528
Title: | A sensor-based robotic line scan system with adaptive ROI for inspection of defects over convex free-form specular surfaces | Authors: | Huo, S Zhang, B Muddassir, M Chik, DTW Navarro-Alarcon, D |
Issue Date: | 1-Feb-2022 | Source: | IEEE sensors journal, 1 Feb. 2022, v. 22, no. 3, p. 2782-2792 | Abstract: | 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. | Keywords: | Defect inspection Depth sensor Line scan sensor Path planning Sensor-guided robots Specular surfaces |
Publisher: | Institute of Electrical and Electronics Engineers | Journal: | IEEE sensors journal | ISSN: | 1530-437X | DOI: | 10.1109/JSEN.2021.3132428 | Rights: | © 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The following publication S. Huo, B. Zhang, M. Muddassir, D. T. W. Chik and D. Navarro-Alarcon, "A Sensor-Based Robotic Line Scan System With Adaptive ROI for Inspection of Defects Over Convex Free-Form Specular Surfaces," in IEEE Sensors Journal, vol. 22, no. 3, pp. 2782-2792, 1 Feb.1, 2022 is available at https://doi.org/10.1109/JSEN.2021.3132428 |
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Huo_Sensor-Based_Robotic_Line.pdf | Pre-Published version | 4.5 MB | Adobe PDF | View/Open |
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