1. PCB Soldering Inspection

2. Structured Highlight approach Structured Highlight method is applied to illuminating and imaging specular surfaces which yields three dimensional shape information This approach uses multiple point sources and images the resulting highlight patterns reflected from the surface Basic Geometric Relations A fixed camera images the reflected light ray only if it is positioned and oriented such that it is admitted by the camera’s projective axis Once the reflected light ray is observed as a highlight in the camera image and the direction of incident ray is known, orientation of the surface element where light was reflected can be found Solder Height Detection Normal vector at high Lighted point (i,j) is Assumption: Then: Using total K images Vector field is given: Solder Shape These can be rewritten as:

3. PCB Soldering Inspection Simulated Results Experimental Setup Sample PCB board images Board Image Processing Find Normal vector Vector Field Solder Height Depth Map Full Depth Map Selected Area Reconstructed Solder Shape