Development of dynamic inspection methods for dimensional measurement of automotive body parts

This paper introduces a novel robotic range sensor planning system, which is developed for 3D dimensional inspection of automotive body parts. For active, triangulation-based range sensors, shadow and reflection causes problems when measure a metal part with glossy and discontinuous surface. To solve these problems, a feedback based dynamic view planning system is proposed, which not only generate viewpoints from a CAD model of a part, but also recursively add viewpoints according to the measured information. The planning process stops only if the obtained point clouds meet the pre-determined requirements. General framework of the system is introduced, and the experimental results are also presented