A new omnidirectional image sensing system for assembly (OISSA)

In contrast to objects of relatively simple shapes, it is difficult to extract geometrical informations from objects of complicated shapes and thus their assembly requires complete information about a misalignment between mating parts. This motivates development of a new sensing method for detecting the misalignment. In this paper, we propose a new omnidirectional image sensing system for assembly of parts with complicated shapes. It is shown that the system consisting of multiple mirrors and a camera can effectively acquire the coaxial 2n view of the misalignment