Abstract
The present disclosure provides a robotic inspection system including a robotic platform, a non-planar optical element mounted via a multi-degree-of-freedom actuator system configured to controllably position and orient the optical element, wherein the optical element introduces non-linear distortion into reflected images. The system further includes an imaging system with a camera mounted to the robotic platform and configured to capture images reflected from the optical element at different orientations. The system also includes a processing system configured to receive the captured images from the imaging system, receive positional information corresponding to the different orientations of the optical element and imaging system, and process the images with the positional information to compensate for non-linear distortion and generate three-dimensional depth information of a target object within the imaging system's field of view.