Fig. 1. Automatic riveting process of the launch vehicle capsule

Fig. 2. Quality inspection process of riveted pier

Fig. 3. Riveting quality inspection system camera mounting and imaging models

Fig. 4. Comparison of shooting angels and posture images before and after distortion correction

Fig. 5. Flow chart of binary segmentation optimization algorithm

Fig. 6. Image of the edge of the rivet pier

Fig. 7. Comparison of pier head surface image before and after optimization

Fig. 8. Binary images of rivet leakage and crooked riveting defects

Fig. 9. Morphology treatment of rivet surface breakage and crack

Fig. 10. Robustness test data of system measurement