The rapid development of machine vision has prompted the continuous emergence of new detection systems and algorithms in surface defect detection. However, most of the existing methods establish their systems with few comparisons and verifications, and the methods described still have various problems. Thus, an original defect detection method: Segmented Embedded Rapid Defect Detection Method for Surface Defects (SERDD) is proposed in this paper. This method realizes the two-way fusion of image processing and defect detection, which can efficiently and accurately detect surface defects such as depression, scratches, notches, oil, shallow characters, abnormal dimensions, etc. Besides, the character recognition method based on Spatial Pyramid Character Proportion Matching (SPCPM) is used to identify the engraved characters on the bearing dust cover. Moreover, the problem of characters being cut in coordinate transformation is solved through Image Self-Stitching-and-Cropping (ISSC). This paper adopts adequate real image data to verify and compare the methods and proves the effectiveness and advancement through detection accuracy, missing alarm rate, and false alarm rate. This method can provide machine vision technical support for bearing surface defect detection in its real sense.

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Rigid registration of 3D point clouds is the key technology in robotics and computer vision. Most commonly, the iterative closest point (ICP) and its variants are employed for this task. These methods assume that the closest point is the corresponding point and lead to sensitivity to the outlier and initial pose, while they have poor computational efficiency due to the closest point computation. Most implementations of the ICP algorithm attempt to deal with this issue by modifying correspondence or adding coarse registration. However, this leads to sacrificing the accuracy rate or adding the algorithm complexity. This paper proposes a hierarchical optimization approach that includes improved voxel filter and Multi-Scale Voxelized Generalized-ICP (MVGICP) for 3D point cloud registration. By combining traditional voxel sampling with point density, the outlier filtering and downsample are successfully realized. Through multi-scale iteration and avoiding closest point computation, MVGICP solves the local minimum problem and optimizes the operation efficiency. The experimental results demonstrate that the proposed algorithm is superior to the current algorithms in terms of outlier filtering and registration performance.