RobVision - Visually Guiding a Walking Robot Through a Ship Structure

Abstract

The EU funded ROBVISION project develops a vision system that finds and measures the location of 3D structures with respect to a CAD-model. The main objective is to build an integrated vision system capable of providing adequate information to navigate a walking robot through a ship structure. The key aspect is the integration of a CAD-model to visual measurement and the direct feedback of the measurement results. The objective is to render visual processing robust to deviations in parts and environmental conditions. To achieve this goal a technique is developed that integrates different cues of images to obtain confidence of the measurement result.