Appearance inspection of wire harness using RGB-D Sensor

To realize in hand inspection system which does not fix camera and target object, we employ RGB-D sensor to adjust relative position of camera and target object. This system uses a RGB-D sensor to get both color image and depth image, simultaneously, without fixing camera and target object. In this paper, we focus on wire harness inspection, especially for checking fuse box arrangement. From RGB-D images, first we extract fuses faces. Then, we obtain feature values for each fuse. By using machine learning, our system can discriminate fuse array almost accurately if the distance was within 25 cm and the angle was within 18 degrees.