Robotic intelligence for industrial automation: Object flaw auto detection and pattern recognition by object location searching, object alignment, and geometry comparison

This research investigates the techniques using image subtraction to find flaws in the cosmetic products. The technique developed in this research moves the perfect image to overlap with the flawed image. Then, the perfect and the flawed images are aligned in the same orientation. After the perfect image has overlapped with the flawed image, the flawed image is subtracted from the perfect image. If there are flaws in the flawed image, after the image subtraction, the flaws will remain in the subtracted result. From beginning to end the inspection is done by machine automatically. There is no further human effort involved. The technique developed in this research can find the flaws in two-dimensional images very accurately. This paper explains the method using the second moment to find the orientations of cosmetic products. By the orientations of the cosmetic products, the perfect cosmetic product and the flawed cosmetic product can be aligned in the same orientation. A detailed process of image rotation is addressed in this paper.