Automated visual inspection of an airplane exterior

摘要

This paper deals with the inspection of an airplane using a Pan-Tilt-Zoom camera mounted on a mobile robot moving around the airplane. We present image processing methods for detection and inspection of four different types of items on the airplane exterior. Our detection approach is focused on the regular shapes such as rounded corner rectangles and ellipses, while inspection relies on clues such as uniformity of isolated image regions, convexity of segmented shapes and periodicity of the image intensity signal. The initial results are promising and demonstrate the feasibility of the envisioned robotic system.