Robotic Path Planning for Inspection of Complex-Shaped Objects

Minwoo Na, Jae Bok Song

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

Abstract

In 3D measurement inspection systems, precise registration between measured point clouds is required to obtain high quality results. In such cases, it is critical that there be proper overlaps between the measurements and that the overall shapes be measured without any blank areas. Thus, if the inspection system does not reflect the shape of the object, unmeasured areas may remain, causing the registration to fail or deteriorate. To solve this problem, a robotic path planning method to measure all areas of complex shaped objects is proposed. First, a segmentation-based view planning to extract a viewpoint that properly reflects the object shape is presented. In addition, occlusions that may occur in the extracted viewpoints are prevented, and path planning is performed to make the viewpoint available to a measurement system comprising a robot and rotary table. Furthermore, it is shown that a complex-shaped object can be measured without occlusions using the proposed method.

Original languageEnglish
Title of host publication2020 17th International Conference on Ubiquitous Robots, UR 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages7-11
Number of pages5
ISBN (Electronic)9781728157153
DOIs
Publication statusPublished - 2020 Jun
Event17th International Conference on Ubiquitous Robots, UR 2020 - Kyoto, Japan
Duration: 2020 Jun 222020 Jun 26

Publication series

Name2020 17th International Conference on Ubiquitous Robots, UR 2020

Conference

Conference17th International Conference on Ubiquitous Robots, UR 2020
CountryJapan
CityKyoto
Period20/6/2220/6/26

ASJC Scopus subject areas

  • Artificial Intelligence
  • Mechanical Engineering
  • Control and Optimization

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