Universal Robots UR5e: Getting consistent inspection evidence before commissioning

IsabelBell0648 · 10 May 2026, 12:00 UTC

Reply to discussion
IS
IsabelBell0648
We're planning checking cosmetic metal surfaces with a fixed camera, with Universal Robots UR5e presenting a brushed stainless trim plate to a fixed camera in a robot-presented camera station. Bright streaks move with small presentation changes in our example images, but people keep calling them scratches. We haven't commissioned the cell. How do I sort the references and imaging before we tune thresholds around this mess?

21 replies

BR
BrunoArcher0365
Replying to IsabelBell0648

Check whether the suspected scratches were confirmed on physical samples under the agreed appearance procedure. Link each image to its sample identity and inspection result first.

2 points
IS
IsabelBell0648
Replying to BrunoArcher0365

I've found that some labels were assigned from the images themselves. The samples are still available, but those labels have no corresponding physical inspection results, making the reference circular.

19 points
BR
BrunoArcher0365
Replying to IsabelBell0648

@IsabelBell0648 Mark those labels uncertain and have the samples inspected properly. Then compare images with presentation and lighting controlled; the moving streaks are a useful reflection clue.

11 points
JA
JamieChan1078
Replying to BrunoArcher0365

@BrunoArcher0365 A scratch's visibility can change with presentation too. Don't let 'moving streak' quietly become the rule for relabelling something acceptable.

8 points
BR
BrunoArcher0365
Replying to JamieChan1078

Correct. I meant a reason to investigate the imaging, not a new defect label. Physical acceptance stays with the agreed inspection method.

10 points
NO
NoahChen1151
Replying to BrunoArcher0365

@BrunoArcher0365 So uncertain isn't the same as good? Where do those images go?

16 points
BR
BrunoArcher0365
Replying to NoahChen1151

@NoahChen1151 Keep them explicitly undecided, with the sample link. Don't use them as confirmed examples of either class until the physical review settles them.

12 points
IS
IsabelBell0648
Replying to BrunoArcher0365

I've checked the image folders and found that exposure and presentation both changed between them. Their improved appearance can't be attributed to either change individually.

15 points
OW
OwenBennett0747
Replying to IsabelBell0648

On my inspection setup, a folder called 'better lighting' also contained easier samples. The folder name was doing a lot of unearned work

6 points
IS
IsabelBell0648
Replying to OwenBennett0747

Which details did you retain with each image? I can record sample identity and settings, but I'd like a practical record people will actually maintain.

12 points
OW
OwenBennett0747
Replying to IsabelBell0648

For my separate setup, sample identity, exposure, lighting arrangement and presentation condition were the useful essentials. They let us understand comparisons without relying on recollection

6 points
BR
BrunoArcher0365
Replying to OwenBennett0747

@OwenBennett0747 Those records can support the vision specialist's comparison of image conditions. Holding the representative sample set constant will make an acquisition change easier to assess.

10 points
NO
NoahChen1151
Replying to BrunoArcher0365

@BrunoArcher0365 Would a learned model just cope with the lighting differences?

11 points
BR
BrunoArcher0365
Replying to NoahChen1151

It still needs trustworthy labels and representative evaluation. A different model doesn't establish whether your reference scratches are real or your acquisition comparison is fair.

7 points
JA
JamieChan1078
Replying to BrunoArcher0365

And don't tune and test on different pictures of the same physical sample. That isn't the independence the result would suggest.

10 points
IS
IsabelBell0648
Replying to JamieChan1078

I'll group images by physical sample before dividing the tuning and evaluation sets. The current filenames wouldn't reliably expose the same sample appearing in both.

10 points
BR
BrunoArcher0365
Replying to IsabelBell0648

Report missed defects and false rejects separately on the held-out samples. One agreement percentage can hide which mistake your method is making.

7 points
IS
IsabelBell0648
Replying to BrunoArcher0365

How should the evaluation report handle samples whose physical status is undecided? I want them visible without assigning an unsupported error label.

3 points
BR
BrunoArcher0365
Replying to IsabelBell0648

Show them as undecided with their count, outside confirmed-class error rates. That keeps the coverage limit visible without inventing a ground-truth label.

4 points
IS
IsabelBell0648
Replying to BrunoArcher0365

I can explain the reference uncertainty better, although the example images still don't support a performance judgement. Physical classification and image-condition comparisons remain outstanding.

13 points

Add to the discussion

Welcome to Application Robot

Everyone can read the forum. Sign in or create an account to start a discussion, reply, or upload photos.

Forgot your password?

By creating an account, you agree to our Terms and Conditions and community guidelines. Read our Privacy Policy for how your information is handled.