Fig. 1. Schematic of inspection planning

Fig. 2. Illustration of visual sensor field of view and viewpoint sampling

Fig. 3. Sampling viewpoint pose determination

Fig. 4. Viewpoint visibility analytics

Fig. 5. Chromosomal encoding

Fig. 6. Crossover operation

Fig. 7. Population update process

Fig. 8. Mesh models of target objects. (a) Model 1; (b) model 2

Fig. 9. Pareto frontier solution set. (a) Model 1; (b) model 2

Fig. 10. Inspection planning renderings. (a), (c) Viewpoint sampling renderings; (b), (d) holistic planning renderings of viewpoints and paths

Fig. 11. Comparison of optimal solutions for inspection time cost planned by different algorithms. (a) Model 1; (b) model 2

Fig. 12. Comparison of number of viewpoints planned by different algorithms. (a) Model 1; (b) model 2

Fig. 13. Comparison of computing time of different algorithms

Fig. 14. Experimental scene. (a) Physical scene; (b) Rviz simulation scene

Fig. 15. Photo and 3D reconstruction point cloud of target object. (a), (b) Object 1; (c), (d) object 2