This paper deals with the inspection of an airplane using a Pan-Tilt-Zoom camera mounted on a mobile robot moving around the airplane. We present image processing methods for detection and inspection of four different types of items on the airplane exterior. Our detection approach is focused on the regular shapes such as rounded corner rectangles and ellipses, while inspection relies on clues such as uniformity of isolated image regions, convexity of segmented shapes and periodicity of the image intensity signal. The initial results are promising and demonstrate the feasibility of the envisioned robotic system.
In a context of quantitative thermography, the major problem in determining the true temperature of an object
is the knowledge of its emissivity. This problem is very complicated, above all when its value changes during
the measurement. This article deals with a new radiative method for measuring true temperature fields with an
on-line determination of emissivity. This method, called thermoreflectometry, consists in the indirect emissivity
measurement by a reflectometry method in addition to the radiance temperature measurement. It assumes that
the shapes of bidirectional reflectivity distribution is homothetic for two wavelengths. This assumption is much
less restrictive than the gray body one (emissivity equal for two wavelengths). Finally, those two measurements
and the assumption are fused for determining the true temperature field and the diffusion factor field, a key
parameter of the method. This parameter provides information on the surface properties (diffuse or specular)
ans it is assumed to be independent of the wavelength. The theoretical basis of thermoreflectometry method are
explained and a precise description of the apparatus is given. Measurements on instrumented samples, heated
at a temperature of 350°C and with non uniform emissivity, are in broad agreement with the theory and show a
high accuracy of the method, in reference to thermocouples measurements. The main assumption of the method
is also verified by additional measurements of the bidirectional reflectivity distribution function (BRDF). These
results demonstrate the relevance of this method, based on a simple embedded sensor, for measuring the true
temperature field on samples with non-uniform and unknown emissivity.
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