{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,9]],"date-time":"2026-07-09T17:56:37Z","timestamp":1783619797710,"version":"3.55.0"},"reference-count":39,"publisher":"MDPI AG","issue":"12","license":[{"start":{"date-parts":[[2021,6,13]],"date-time":"2021-06-13T00:00:00Z","timestamp":1623542400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Taiwan Building Technology Center and Center for Cyber-Physical System Innovation","award":["NA"],"award-info":[{"award-number":["NA"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Visual inspection is an important task in manufacturing industries in order to evaluate the completeness and quality of manufactured products. An autonomous robot-guided inspection system was recently developed based on an offline programming (OLP) and RGB-D model system. This system allows a non-expert automatic optical inspection (AOI) engineer to easily perform inspections using scanned data. However, if there is a positioning error due to displacement or rotation of the object, this system cannot be used on a production line. In this study, we developed an automated position correction module to locate an object\u2019s position and correct the robot\u2019s pose and position based on the detected error values in terms of displacement or rotation. The proposed module comprised an automatic hand\u2013eye calibration and the PnP algorithm. The automatic hand\u2013eye calibration was performed using a calibration board to reduce manual error. After calibration, the PnP algorithm calculates the object position error using artificial marker images and compensates for the error to a new object on the production line. The position correction module then automatically maps the defined AOI target positions onto a new object, unless the target position changes. We performed experiments that showed that the robot-guided inspection system with the position correction module effectively performed the desired task. This smart innovative system provides a novel advancement by automating the AOI process on a production line to increase productivity.<\/jats:p>","DOI":"10.3390\/s21124071","type":"journal-article","created":{"date-parts":[[2021,6,14]],"date-time":"2021-06-14T22:25:46Z","timestamp":1623709546000},"page":"4071","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["A Camera-Based Position Correction System for Autonomous Production Line Inspection"],"prefix":"10.3390","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3553-0824","authenticated-orcid":false,"given":"Amit Kumar","family":"Bedaka","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei 106, Taiwan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shao-Chun","family":"Lee","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei 106, Taiwan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Alaa M.","family":"Mahmoud","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei 106, Taiwan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yong-Sheng","family":"Cheng","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei 106, Taiwan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8931-7650","authenticated-orcid":false,"given":"Chyi-Yeu","family":"Lin","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei 106, Taiwan"},{"name":"Center for Cyber-Physical System Innovation, National Taiwan University of Science and Technology, Taipei 106, Taiwan"},{"name":"Taiwan Building Technology Center, National Taiwan University of Science and Technology, Taipei 106, Taiwan"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2021,6,13]]},"reference":[{"key":"ref_1","unstructured":"De Backer, K., DeStefano, T., Menon, C., and Suh, J.R. (2018). Industrial Robotics and the Global Organisation of Production, OECD Publishing. OECD Science, Technology and Industry Working Papers, No. 2018\/03."},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Tripathi, S., Shukla, S., Attrey, S., Agrawal, A., and Bhadoria, V.S. (2020). Smart industrial packaging and sorting system. Strategic System Assurance and Business Analytics, Springer.","DOI":"10.1007\/978-981-15-3647-2_18"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"233","DOI":"10.1016\/j.promfg.2018.02.034","article-title":"Industry 4.0\u2013a glimpse","volume":"20","author":"Vaidya","year":"2018","journal-title":"Procedia Manuf."},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Marcon, P., Arm, J., Benesl, T., Zezulka, F., Diedrich, C., Schr\u00f6der, T., Belyaev, A., Dohnal, P., Kriz, T., and Bradac, Z. (2019). New approaches to implementing the SmartJacket into industry 4.0. Sensors, 19.","DOI":"10.3390\/s19071592"},{"key":"ref_5","first-page":"6","article-title":"Industry 4.0: A review on industrial automation and robotic","volume":"78","author":"Bahrin","year":"2016","journal-title":"Jurnal Teknologi"},{"key":"ref_6","doi-asserted-by":"crossref","unstructured":"Ermolov, I. (2020). Industrial robotics review. Robotics: Industry 4.0 Issues & New Intelligent Control Paradigms, Springer.","DOI":"10.1007\/978-3-030-37841-7_16"},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"P\u00e9rez, L., Rodr\u00edguez, \u00cd., Rodr\u00edguez, N., Usamentiaga, R., and Garc\u00eda, D.F. (2016). Robot guidance using machine vision techniques in industrial environments: A comparative review. Sensors, 16.","DOI":"10.3390\/s16030335"},{"key":"ref_8","unstructured":"Forsyth, D.A., and Ponce, J. (2012). Computer Vision: A Modern Approach, Pearson Education. [2nd ed.]."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"205","DOI":"10.1016\/j.procs.2018.07.025","article-title":"Vision-based robot manipulator for industrial applications","volume":"133","author":"Ali","year":"2018","journal-title":"Procedia Comput. Sci."},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Nakhaeinia, D., Fareh, R., Payeur, P., and Lagani\u00e8re, R. (2013, January 21\u201326). Trajectory planning for surface following with a manipulator under RGB-D visual guidance. Proceedings of the 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Linkoping, Sweden.","DOI":"10.1109\/SSRR.2013.6719365"},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Fan, X., Wang, X., and Xiao, Y. (2014, January 10\u201312). A combined 2D-3D vision system for automatic robot picking. Proceedings of the 2014 International Conference on Advanced Mechatronic Systems, Kumamoto, Japan.","DOI":"10.1109\/ICAMechS.2014.6911599"},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Kim, K., Kim, J., Kang, S., Kim, J., and Lee, J. (2012, January 26\u201328). Vision-based bin picking system for industrial robotics applications. Proceedings of the 2012 9th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), Daejeon, Korea.","DOI":"10.1109\/URAI.2012.6463057"},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Camarillo, D.B., Loewke, K.E., Carlson, C.R., and Salisbury, J.K. (2008, January 19\u201323). Vision based 3-D shape sensing of flexible manipulators. Proceedings of the 2008 IEEE International Conference on Robotics and Automation, Pasadena, CA, USA.","DOI":"10.1109\/ROBOT.2008.4543656"},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"012097","DOI":"10.1088\/1742-6596\/1449\/1\/012097","article-title":"Multiclass Fruit Packing System Based on Computer Vision","volume":"1449","author":"Lin","year":"2020","journal-title":"J. Phys. Conf. Ser."},{"key":"ref_15","unstructured":"Heikkila, J., and Silven, O. (1997, January 17\u201319). A four-step camera calibration procedure with implicit image correction. Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, San Juan, PR, USA."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"1330","DOI":"10.1109\/34.888718","article-title":"A flexible new technique for camera calibration","volume":"22","author":"Zhang","year":"2000","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"323","DOI":"10.1109\/JRA.1987.1087109","article-title":"A versatile camera calibration technique for high-accuracy 3D machine vision metrology using off-the-shelf TV cameras and lenses","volume":"3","author":"Tsai","year":"1987","journal-title":"IEEE J. Robot. Autom."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"155","DOI":"10.1002\/rob.4620110303","article-title":"Robot calibration by mobile camera systems","volume":"11","author":"Zhuang","year":"1994","journal-title":"J. Robot. Syst."},{"key":"ref_19","unstructured":"Renaud, P., Andreff, N., Marquet, F., and Martinet, P. (2003, January 14\u201319). Vision-based kinematic calibration of a H4 parallel mechanism. Proceedings of the 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"929","DOI":"10.1016\/j.mechmachtheory.2006.03.014","article-title":"Interval method for calibration of parallel robots: A vision-based experimentation","volume":"41","author":"Daney","year":"2006","journal-title":"Mech. Mach. Theory"},{"key":"ref_21","doi-asserted-by":"crossref","unstructured":"Carlson, F.B., Johansson, R., and Robertsson, A. (2015, January 28). Six DOF eye-to-hand calibration from 2D measurements using planar constraints. Proceedings of the 2015 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany.","DOI":"10.1109\/IROS.2015.7353884"},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"79","DOI":"10.1023\/A:1026567812984","article-title":"Motor algebra for 3D kinematics: The case of the hand-eye calibration","volume":"13","author":"Daniilidis","year":"2000","journal-title":"J. Math. Imaging Vis."},{"key":"ref_23","doi-asserted-by":"crossref","unstructured":"Strobl, K.H., and Hirzinger, G. (2006, January 9\u201315). Optimal hand-eye calibration. Proceedings of the 2006 IEEE\/RSJ international conference on intelligent robots and systems, Beijing, China.","DOI":"10.1109\/IROS.2006.282250"},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"286","DOI":"10.1177\/02783649922066213","article-title":"Hand-eye calibration using dual quaternions","volume":"18","author":"Daniilidis","year":"1999","journal-title":"Int. J. Robot. Res."},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"487","DOI":"10.1016\/S0736-5845(01)00024-2","article-title":"Robot calibration using a 3D vision-based measurement system with a single camera","volume":"17","author":"Motta","year":"2001","journal-title":"Robot. Comput. Integr. Manuf."},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"554","DOI":"10.1109\/TRO.2004.842347","article-title":"Enhanced stiffness modeling, identification and characterization for robot manipulators","volume":"21","author":"Alici","year":"2005","journal-title":"IEEE Trans. Robot."},{"key":"ref_27","unstructured":"Newman, W., Birkhimer, C., and Horning, R. (2000, January 24\u201328). Calibration of a motomanP8 robotbased on laser tracking. Proceedings of the IEEE Conference on Robotics Andautomation, San Francisco, CA, USA."},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"291","DOI":"10.1002\/(SICI)1097-4563(200006)17:6<291::AID-ROB1>3.0.CO;2-U","article-title":"Three methodologies for the calibration of industrial manipulators: Experimental results on a SCARA robot","volume":"17","author":"Omodei","year":"2000","journal-title":"J. Robot. Syst."},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"879","DOI":"10.1016\/j.mechmachtheory.2004.12.012","article-title":"A systematic technique to estimate positioning errors for robot accuracy improvement using laser interferometry-based sensing","volume":"40","author":"Alici","year":"2005","journal-title":"Mech. Mach. Theory"},{"key":"ref_30","doi-asserted-by":"crossref","unstructured":"Zhang, B., Wang, J., Rossano, G., and Martinez, C. (2011, January 7\u201310). Vision-guided robotic assembly using uncalibrated vision. Proceedings of the IEEE International Conference on Mechatronics and Automation, Beijing, China.","DOI":"10.1109\/ICMA.2011.5985778"},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"436","DOI":"10.1016\/j.rcim.2006.05.002","article-title":"Autonomous robot calibration using vision technology","volume":"23","author":"Meng","year":"2007","journal-title":"Robot. Comput. Integr. Manuf."},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"352","DOI":"10.1016\/j.procir.2012.07.061","article-title":"Robot path correction using stereo vision system","volume":"3","author":"Michalos","year":"2012","journal-title":"Procedia Cirp."},{"key":"ref_33","doi-asserted-by":"crossref","first-page":"6822","DOI":"10.1364\/AO.56.006822","article-title":"3D pose estimation of large and complicated workpieces based on binocular stereo vision","volume":"56","author":"Luo","year":"2017","journal-title":"Appl. Optics."},{"key":"ref_34","doi-asserted-by":"crossref","unstructured":"Bedaka, A.K., Mahmoud, A.M., Lee, S.C., and Lin, C.Y. (2018). Autonomous robot-guided inspection system based on offline programming and RGB-D model. Sensors, 18.","DOI":"10.3390\/s18114008"},{"key":"ref_35","doi-asserted-by":"crossref","unstructured":"Bedaka, A.K., Lin, C.Y., and Huang, S.T. (2019). Autonomous Cad Model\u2013Based Industrial Robot Motion Planning Platform. Int. J. Robot. Autom., 34.","DOI":"10.2316\/J.2019.206-0141"},{"key":"ref_36","doi-asserted-by":"crossref","first-page":"774","DOI":"10.1109\/34.784291","article-title":"Linear n-point camera pose determination","volume":"21","author":"Quan","year":"1999","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"ref_37","doi-asserted-by":"crossref","first-page":"33","DOI":"10.1016\/0734-189X(89)90052-2","article-title":"An analytic solution for the perspective 4-point problem","volume":"47","author":"Horaud","year":"1989","journal-title":"Comput. Vis. Graph. Image Process."},{"key":"ref_38","doi-asserted-by":"crossref","first-page":"2027","DOI":"10.3390\/s100302027","article-title":"Automatic chessboard detection for intrinsic and extrinsic camera parameter calibration","volume":"10","author":"Armingol","year":"2010","journal-title":"Sensors"},{"key":"ref_39","doi-asserted-by":"crossref","first-page":"484","DOI":"10.1016\/j.rcim.2013.05.003","article-title":"Online robot calibration based on vision measurement","volume":"29","author":"Du","year":"2013","journal-title":"Robot. Comput. Integr. Manuf."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/21\/12\/4071\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T06:13:50Z","timestamp":1760163230000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/21\/12\/4071"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,6,13]]},"references-count":39,"journal-issue":{"issue":"12","published-online":{"date-parts":[[2021,6]]}},"alternative-id":["s21124071"],"URL":"https:\/\/doi.org\/10.3390\/s21124071","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,6,13]]}}}