Optical Measurement by Back Projection

One of the tasks specified for the vision group of the RIPR project is the implementation of a run time inspection cell which is able to identify a small object, and to subsequently inspect it using a single camera, referred to as the inspection camera, attached to a robot arm. As a definite example, we may want to determine whether a hole has been machined on a particular face of the object with the correct radius and at the correct position, at least to within some previously agreed upon tolerance. As has been implied, measurements of features will assumed to be given with respect to some set of accurately known features (referred to as calibration features) on the object (such as its edges), ie the body of the object is taken to have been manufactured accurately, any imperfections are assumed to exist solely in the finer detail. The inspection cell demonstrator will thus be envisaged to be used for feature verification.