Quadric segmentation and fitting of data captured by a laser profile scanner mounted on an industrial robot

Rahayem, Mohamed; Kjellander, Johan

doi:10.1007/s00170-010-2713-4

Cited by 22 publications

(11 citation statements)

References 52 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…We compared the proposed algorithm against the other techniques that we already described in the previous section. The line fitting method [12] was excluded because it is designed to work with a single cylindrical shape to be fitted, therefore its application in such scenario has no sense. Since MSAC and Tran et al approaches require vertex normals, we computed them for each point by lo-cally fitting a plane on its 80 neighbours 4 To extract multiple cylinders with MSAC approach, we iteratively removed all points falling inside the region delimited by ± 5% of the estimated radius.…”

Section: Real-world Experimentsmentioning

confidence: 99%

“…The fitting and extraction of geometrical primitives (planes, circles, spheres, cylinders, pyramids) is a widely covered topic in the literature [9][10][11] , being an essential task in several scenarios as industrial automation and inspection [12,13] , reverse engineering [14] , scene segmentation [15] , marker detection [16] or camera calibration [17] . In particular we are interested on cylindrical shapes, often found in many applications including natural landscape analysis [18] , automated pipe-run reconstruction [19] , and industrial quality inspection [20] .…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Cylinders extraction in non-oriented point clouds as a clustering problem

Bergamasco

Pistellato

Albarelli

et al. 2020

Pattern Recognition

View full text Add to dashboard Cite

Finding geometric primitives in 3D point clouds is a fundamental task in many engineering applications such as robotics, autonomous-vehicles and automated industrial inspection. Among all solid shapes, cylinders are frequently found in a variety of scenes, comprising natural or man-made objects. Despite their ubiquitous presence, automated extraction and fitting can become challenging if performed "in-the-wild", when the number of primitives is unknown or the point cloud is noisy and not oriented.In this paper we pose the problem of extracting multiple cylinders in a scene by means of a Game-Theoretic inlier selection process exploiting the geometrical relations between pairs of axis candidates. First, we formulate the similarity between two possible cylinders considering the rigid motion aligning the two axes to the same line. This motion is represented with a unitary dual-quaternion so that the distance between two cylinders is induced by the length of the shortest geodesic path in SE(3). Then, a Game-Theoretical process exploits such similarity function to extract sets of primitives maximizing their inner mutual consensus. The outcome of the evolutionary process consists in a probability distribution over the sets of candidates (ie axes), which in turn is used to directly estimate the final cylinder parameters. An extensive experimental section shows that the proposed algorithm offers a high resilience to noise, since the process inherently discards inconsistent data. Compared to other methods, it does not need point normals and does not require a fine tuning of multiple parameters.

show abstract

Section: Real-world Experimentsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Cylinders extraction in non-oriented point clouds as a clustering problem

Bergamasco

Pistellato

Albarelli

et al. 2020

Pattern Recognition

View full text Add to dashboard Cite

show abstract

“…Models, usually represented as polygonal meshes, can be produced either by a human designer or acquired automatically through expensive scanning equipment [12]. While such an approach is reasonable for applications in traditional static factory automation, in many interesting scenarios accurate object models are not available.…”

Section: Background and Motivationmentioning

confidence: 99%

Generation of Independent Contact Regions on objects reconstructed from noisy real-world range data

Charusta

Krug

Stoyanov

et al. 2012

2012 IEEE International Conference on Robotics and Automation

View full text Add to dashboard Cite

Abstract-The synthesis and evaluation of multi-fingered grasps on complex objects is a challenging problem that has received much attention in the robotics community. Although several promising approaches have been developed, applications to real-world systems are limited to simple objects or gripper configurations. The paradigm of Independent Contact Regions (ICRs) has been proposed as a way to increase the tolerance to grasp positioning errors. This concept is well established, though only on precise geometric object models. This work is concerned with the application of the ICR paradigm to models reconstructed from real-world range data. We propose a method for increasing the robustness of grasp synthesis on uncertain geometric models. The sensitivity of the ICR algorithm to noisy data is evaluated and a filtering approach is proposed to improve the quality of the final result.

show abstract

“…In approximate problems, Yu-cun Zhang et al [21] proposed a method of structured light scanning for the geometric measurement of cylindrical forgings, but pose measurement is not discussed. Measurement accuracy for cylinders by laser scanning is discussed in the works of Rahayem et al [22,23]. They evaluated the accuracy of ellipse fitting about the incomplete elliptical arcs obtained by laser scanning.…”

Section: Introductionmentioning

confidence: 99%

An Improved Robust Method for Pose Estimation of Cylindrical Parts with Interference Features

Zhang

Qiu

et al. 2019

Sensors

View full text Add to dashboard Cite

Horizontal docking assembly is a fundamental process in the aerospace assembly, where intelligent measurement and adjustable support systems are urgently needed to achieve higher automation and precision. Thus, a laser scanning approach is employed to obtain the point cloud from a laser scanning sensor. And a method of section profile fitting is put forward to solve the pose parameters from the data cloud acquired by the laser scanning sensor. Firstly, the data is segmented into planar profiles by a series of parallel planes, and ellipse fitting is employed to estimate each center of the section profiles. Secondly, the pose of the part can be obtained through a spatial straight line fitting with these profile centers. However, there may be some interference features on the surface of the parts in the practical assembly process, which will cause negative effects to the measurement. Aiming at the interferences, a robust method improved from M-estimation and RANSAC is proposed to enhance the measurement robustness. The proportion of the inner points in a whole profile point set is set as a judgment criterion to validate each planar profile. Finally, a prototype is fabricated, a series of experiments have been conducted to verify the proposed method.

show abstract

Quadric segmentation and fitting of data captured by a laser profile scanner mounted on an industrial robot

Cited by 22 publications

References 52 publications

Cylinders extraction in non-oriented point clouds as a clustering problem

Cylinders extraction in non-oriented point clouds as a clustering problem

Generation of Independent Contact Regions on objects reconstructed from noisy real-world range data

An Improved Robust Method for Pose Estimation of Cylindrical Parts with Interference Features

Contact Info

Product

Resources

About