Image processing algorithm design and implementation for real-time autonomous inspection of mixed waste

摘要

The ARIES (number sign)1 (Autonomous Robotic Inspection Experimental System) vision system is used to acquire drum surface images under controlled conditions and subsequently perform autonomous visual inspection leading to a classification as 'acceptable' or 'suspect'. Specific topics described include vision system design methodology, algorithmic structure,hardware processing structure, and image acquisition hardware. Most of these capabilities were demonstrated at the ARIES Phase II Demo held on Nov. 30, 1995. Finally, Phase III efforts are briefly addressed.