3D scanner positioning for aircraft surface inspection Marie-Anne Bauda, Alex Grenwelge, Stanislas Larnier To cite this version: Marie-Anne Bauda, Alex Grenwelge, Stanislas Larnier. 3D scanner positioning for aircraft surface inspection. ERTS 2018, Jan 2018, Toulouse, France. hal-02156494 HAL Id: hal-02156494 https://hal.archives-ouvertes.fr/hal-02156494 Submitted on 14 Jun 2019 HAL is a multi-disciplinary open access L’archive ouverte pluridisciplinaire HAL, est archive for the deposit and dissemination of sci- destinée au dépôt et à la diffusion de documents entific research documents, whether they are pub- scientifiques de niveau recherche, publiés ou non, lished or not. The documents may come from émanant des établissements d’enseignement et de teaching and research institutions in France or recherche français ou étrangers, des laboratoires abroad, or from public or private research centers. publics ou privés. 3D scanner positioning for aircraft surface inspection Marie-Anne Bauda, Alex Grenwelge, Stanislas Larnier AKKA Research, Toulouse, France
[email protected] Abstract—The French Air-Cobot project aims at improving preflight maintenance as well as providing a traceability of the performed checks. A collaborative mobile robot has been built in order to carry out those tasks. The robot is able to navigate autonomously around the aircraft and perform non-destructive testing thanks to several sensors. More precisely, in this paper we focus on how to obtain a correct position of the 3D scanner fixed on a scissor with respect to the aircraft. It acquires 3D data which is analyzed to process surface inspection. The functional safety of the scissor is based on automatic visual checking of some cues.