An automatic tube inspection system that finds cylinders in rangedata
Grimson, W.E.L.
Lozano-Perez, T.
Noble, N.
White, S.J.
MIT AI Lab., Cambridge, MA;
Abstract
A system that automatically inspects pieces of formed tubing is
described. To locate the part, the system automatically identifies
cylindrical tube sections from sparse range samples taken with an active
scanning device, and uses this to roughly locate the part under sensor.
This localization is used to determine a detailed scanning strategy,
which is executed to acquire more precise and detailed information.
These data are than used to verify specifications on components
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