Overview

Involved in the aerospace industry, this project presents a library to perform inspection processes for detecting FODs in large aeronautical parts or structures.

The work is done by analysing pointclouds of the part/structure and its environment, and comparing it with an already known information such as its CAD model or previous scan. These pointclouds can be obtained from a large-range laser scanner. The project also includes a library to control one Leica Scanstation C5 large-range laser scanner.

Getting started

• leica_scanstation. This package is a ROS wrapper for controlling the Leica Scanstation C5 directly from a computer.

• leica_point_cloud_processing. This package has been developed to help identifying FODs in aeronautical structures.

• leica_gazebo_simulation. This package is a simulator of the Leica Scanstation C5, which allows the user to acquire a point cloud of the scene targeted by the device in the simulator.

Demonstration videos

In this video we show a use case of the libraries developed with real aeronautical parts. Due to confidentiality issues, the pointclouds and the cads associated to such test are not provided.

Watch this video to see the simulated model of the ScanStation C5 created for Gazebo and the virtual industrial environment used to perform tests.

Acknowledgement