A flexible visual inspection system combining pose estimation and visual servo approaches

Chuantao Zang, Koichi Hashimoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

This paper presents a system framework to realize the automatic visual inspection with random initial object poses. A series of Computer Graphics (CG) images rendered in OpenGL are compared with a real scene image from a fixed environment camera. With an iterative heuristic search approach for the maximum similarity in these comparisons, robust 3D object pose estimation has been obtained to place an inspection camera to its new initial pose. Then a visual servo technique is used to accurately place this camera so that a reliable visual inspection can be carried out. Contrast with those feature-based or texture-based approaches where textures are required, only the object's geometry information is needed in this framework, therefore this system can deal with the untextured objects (for instance metal parts) well. This paper describes the system configuration and operational procedure in detail. Experiments results are presented to evaluate the system performance.

Original languageEnglish
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1304-1309
Number of pages6
ISBN (Print)9781467314039
DOIs
Publication statusPublished - 2012 Jan 1
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: 2012 May 142012 May 18

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
CountryUnited States
CitySaint Paul, MN
Period12/5/1412/5/18

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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