TY - GEN
T1 - Robotic Path Planning for Inspection of Complex-Shaped Objects
AU - Na, Minwoo
AU - Song, Jae Bok
N1 - Funding Information:
*This research was supported by the MOTIE under the Industrial Foundation Technology Development Program supervised by the KEIT (No. 20005032).
Publisher Copyright:
© 2020 IEEE.
PY - 2020/6
Y1 - 2020/6
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85094320754&partnerID=8YFLogxK
U2 - 10.1109/UR49135.2020.9144890
DO - 10.1109/UR49135.2020.9144890
M3 - Conference contribution
AN - SCOPUS:85094320754
T3 - 2020 17th International Conference on Ubiquitous Robots, UR 2020
SP - 7
EP - 11
BT - 2020 17th International Conference on Ubiquitous Robots, UR 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 17th International Conference on Ubiquitous Robots, UR 2020
Y2 - 22 June 2020 through 26 June 2020
ER -