Robotic Path Planning for Inspection of Complex-Shaped Objects

Minwoo Na; Jae Bok Song

doi:10.1109/UR49135.2020.9144890

Robotic Path Planning for Inspection of Complex-Shaped Objects

Minwoo Na, Jae Bok Song

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

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 language	English
Title of host publication	2020 17th International Conference on Ubiquitous Robots, UR 2020
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	7-11
Number of pages	5
ISBN (Electronic)	9781728157153
DOIs	https://doi.org/10.1109/UR49135.2020.9144890
Publication status	Published - 2020 Jun
Event	17th International Conference on Ubiquitous Robots, UR 2020 - Kyoto, Japan Duration: 2020 Jun 22 → 2020 Jun 26

Publication series

Name	2020 17th International Conference on Ubiquitous Robots, UR 2020

Conference

Conference	17th International Conference on Ubiquitous Robots, UR 2020
Country/Territory	Japan
City	Kyoto
Period	20/6/22 → 20/6/26

Bibliographical note

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.

ASJC Scopus subject areas

Artificial Intelligence
Mechanical Engineering
Control and Optimization

Access to Document

10.1109/UR49135.2020.9144890

Cite this

Robotic Path Planning for Inspection of Complex-Shaped Objects. / Na, Minwoo; Song, Jae Bok.
2020 17th International Conference on Ubiquitous Robots, UR 2020. Institute of Electrical and Electronics Engineers Inc., 2020. p. 7-11 9144890 (2020 17th International Conference on Ubiquitous Robots, UR 2020).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Na, M & Song, JB 2020, Robotic Path Planning for Inspection of Complex-Shaped Objects. in 2020 17th International Conference on Ubiquitous Robots, UR 2020., 9144890, 2020 17th International Conference on Ubiquitous Robots, UR 2020, Institute of Electrical and Electronics Engineers Inc., pp. 7-11, 17th International Conference on Ubiquitous Robots, UR 2020, Kyoto, Japan, 20/6/22. https://doi.org/10.1109/UR49135.2020.9144890

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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.",

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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.

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Robotic Path Planning for Inspection of Complex-Shaped Objects

Abstract

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Conference

Bibliographical note

ASJC Scopus subject areas

Access to Document

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