Fig. 1. Diagram of rudder structural components

Fig. 2. Diagram of testing requirements

Fig. 3. Schematic diagram of vision inspection method for geometric error

Fig. 4. Vision inspection and assessment methods for geometric errors

Fig. 5. Testing platform

Fig. 6. Camera calibration results

Fig. 7. Image binarization results

Fig. 8. Image filtering results

Fig. 9. Edge detection results

Fig. 10. Contour detection

Fig. 11. Symmetry detection of rudder core

Fig. 12. Verticality detection of rudder shaft

Fig. 13. Angle detection of rocker arm

Fig. 14. GUI interface