Research on Deviation Detection of Belt Conveyor Based on Inspection Robot and Deep Learning

Figure 2

Typical images of the ROI and their edge maps. With the movement of the inspection robot, the position of the ROI in the image changes from left to right, the idler outer edge presents an elliptical arc, and the edge map of the ROI_I is disturbed by similar elliptical arcs. (a) ROI_O on the left, (b) ROI_O in the middle, (c) ROI_O on the right, (d) ROI_I on the left, (e) ROI_I in the middle, and (f) ROI_I on the right.

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