Sensor Fused Scene Reconstruction and Surface Inspection

Optical three dimensional (3D) mapping routines are used in inspection robots to detect faults by creating 3D reconstructions of environments. To detect surface faults, sub millimeter depth resolution is required to determine minute differences caused by coating loss and pitting. Sensors that can detect these small depth differences cannot quickly create contextual maps of large environments. To solve the 3D mapping problem, a sensor fused approach is proposed that can gather contextual information about large environments with one depth sensor and a SLAM routine; while local surface defects can be measured with an actuated optical profilometer. The depth sensor uses a modified Kinect Fusion to create a contextual map of the environment. A custom actuated optical profilometer is created and then calibrated. The two systems are then registered to each other to place local surface scans from the profilometer into a scene context created by Kinect Fusion. The resulting system can create a contextual map of large scale features (0.4 m) with less than 10% error while the optical profilometer can create surface reconstructions with sub millimeter resolution. The combination of the two allows for the detection and quantification of surface faults with the profilometer placed in a contextual reconstruction.

Name thesis:degree_name

Master of Science

Level thesis:degree_level

masters

Discipline thesis:degree_discipline

Mechanical Engineering

Department dc:contributor.department

Mechanical Engineering

Grantor dc:publisher

Virginia Tech

Year dc:date.issued

2014

Author dc:creator

• Moodie, Daniel Thien-An

Chair dc:contributor.committeechair

• Wicks, Alfred L.

Committee members dc:contributor.committeemember

• Bird, John P.
• Meehan, Kathleen

• Sensor Fusion
• 3D Scene Reconstruction
• Computer Vision
• Robotic Perception
• Surface Defect Characterization

Statement dc:rights

• In Copyright

Licence dc:rights.uri

• http://rightsstatements.org/vocab/InC/1.0/

Dc Identifier Other

vt_gsexam:2358

OAI identifier oai:identifier

oai:vtechworks.lib.vt.edu:10919/47453