A Perception Framework
Previous: Introduction
We use a B/W CCD camera mounted on the tip of a robot and a coordinate measuring machine (CMM) probe with the necessary interface to a Sun Sparcstation as the sensing machines. The DRFSM DEDS controller guides the movable camera into the relevant features of the mechanical part under consideration recursively. The part is then probed by the CMM probe and an illumination table is formed for getting measurements in the feature-less regions of the part. The sequence of visual events occurring in the recursive system is observed in order to determine the state of the inspection machine.
An automatic interface uses the recursive definition of the recovered features, the estimated depths and the contour points and creates a CAD model of the part, which is to be used for subsequent manufacturing and/or inspection.
