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.