Abstract: Systems and methods inspect a fastener installed at least partially through a hole in a part, by measuring fastener concentricity, measuring fastener flushness with a surface, and/or detecting foreign object debris near the fastener. Systems include an x-ray imaging system, a first camera device, a second camera device, a first support structure, and at least one processing unit. The first camera device produces a first image of the fastener from a first vantage point, and the second camera device produces a second image of the fastener from a second vantage point, such that a 3D image of the fastener can be created from the first image and the second image. The system inspects the fastener based on the x-ray image and/or the 3D image, to determine concentricity and/or flushness of the fastener. Systems may be automated and mounted on robot arms to be positioned relative to the fasteners being inspected.

Abstract: A system for measuring a flushness of a fastener in a surface includes a plurality of lights configured to illuminate the fastener and the surface. The system also includes a camera configured to capture a plurality of images of the fastener and the surface while the lights sequentially illuminate the fastener and the surface. The system also includes a computing system configured to determine a normal map of the fastener and the surface based at least partially upon the images, determine a depth map of the fastener and the surface based at least partially upon the normal map, and determine the flushness of the fastener with respect to the surface based at least partially upon the depth map.

Abstract: A system for measuring a flushness of a fastener in a surface includes a plurality of lights configured to illuminate the fastener and the surface. The system also includes a camera configured to capture a plurality of images of the fastener and the surface while the lights sequentially illuminate the fastener and the surface. The system also includes a computing system configured to determine a normal map of the fastener and the surface based at least partially upon the images, determine a depth map of the fastener and the surface based at least partially upon the normal map, and determine the flushness of the fastener with respect to the surface based at least partially upon the depth map.