The University of Edinburgh -
Division of Informatics
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Research Paper #616

Title:Active Inspection Using Visibility, Sensor and Task Knowledge
Authors:Trucco,E; Umasuthan,M; Wallace,A
Date:Feb 1993
Presented:Submitted to IEEE Transactions on Robotics & Automation
Abstract:We report some results of a project to compute visibility scripts for active inspection applications, in which a robot-mounted sensor observes a known object from different viewpoints. Visibility scripts describe the optimal sensor position for a given inspection task. A feature visibility representation (the FIR) is introduced, which can accommodate workspace, visibility and sensor constraints. The FIR specifies also task-dependent knowledge about generalized sensor adopted (the imaging device and the feature detection or measurement system) and reliability expectations based on sensor performance tests. The performance of a prototype in simulated and real inspection tasks is demonstrated and discussed.

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