An accurate hardware calibration and 3D point cloud stitching towards automatic quality control in aerospace manufacturing

In this paper, we present our approach to solve a robot-sensor calibration problem. This is preparatory to the acquisition and stitching of point clouds. We operated by adopting a robotic arm equipped with a suitable 3D sensor, in the context of aerospace manufacturing. The aim is to improve the effectiveness and efficiency of specific assembly steps, such as checking for part-to-part gaps.