论文标题
具有自适应ROI的机器人线扫描系统，用于检查凸自由形式镜面上的缺陷
A Robotic Line Scan System with Adaptive ROI for Inspection of Defects over Convex Free-form Specular Surfaces
论文作者
论文摘要
在本文中，我们提出了一个新的机器人系统，以在自由形式的镜面表面执行缺陷检查任务。自主程序是由六多号操纵器实现的，配备了线条扫描摄像头和高强度的照明系统。我们的方法首先使用对象的CAD网格模型来实现K均不监督的学习算法，该学习算法将对象的表面分离为具有相似曲率的区域。然后，通过使用一种自适应算法来计算扫描路径，该算法调整了相机的ROI以正确观察不规则形状的区域。提出了一种在机器人坐标框架系统中鲁棒定位的基于最接近点的投影登记方法，以处理由深度传感器捕获的镜面对象的盲点问题。最后，图像处理管道自动检测到捕获的高分辨率图像中的表面缺陷。据报道，使用视觉引导的机器人扫描系统进行了详细的实验研究，以验证所提出的方法。
In this paper, we present a new robotic system to perform defect inspection tasks over free-form specular surfaces. The autonomous procedure is achieved by a six-DOF manipulator, equipped with a line scan camera and a high-intensity lighting system. Our method first uses the object's CAD mesh model to implement a K-means unsupervised learning algorithm that segments the object's surface into areas with similar curvature. Then, the scanning path is computed by using an adaptive algorithm that adjusts the camera's ROI to observe regions with irregular shapes properly. A novel iterative closest point-based projection registration method that robustly localizes the object in the robot's coordinate frame system is proposed to deal with the blind spot problem of specular objects captured by depth sensors. Finally, an image processing pipeline automatically detects surface defects in the captured high-resolution images. A detailed experimental study with a vision-guided robotic scanning system is reported to validate the proposed methodology.
