Computing and Using
Once the position of a 3D object in space has been estimated, an advanced inspection system should bring
robot-mounted sensors to positions from which a given inspection task can be performed optimally. In general, several parts of an object require inspection, and each is best observed from a different viewpoint.
It is possible to compute inspection scripts for both single or multiple sensors. A single sensor can be either
an intensity or a range imaging camera; A multiple sensor may be a stereo head, or a pair of intensity cameras. Examples
of tasks are,
- Single-feature, single-sensor: find the position in space from which a single imaging sensor can inspect
a single object feature optimally.
- Single-feature, multiple-sensor: find the position in space from which a stereo head can inspect a single
object feature optimally.
- Multiple-feature, single-sensor: (3a) find the position in space from which a single imaging sensor can
simultaneously inspect a set of features optimally; (3b) find the best 3D path for a single sensor to inspect a set of object features.
- Multiple-feature, multiple-sensor : find the best 3D path for a stereo head to inspect a set of object features.
- Stereo inspection
- Path planning
[ Viewer Centred Representations: Contents |
Stereo inspection ]
Comments to: Sarah Price at ICBL.