An Improved Robust Method for Pose Estimation of Cylindrical Parts with Interference Features
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 sen...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2019-05-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/19/10/2234 |
| _version_ | 1798035305843916800 |
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| author | Jieyu Zhang Yuanying Qiu Xuechao Duan Kangli Xu and Changqi Yang |
| author_facet | Jieyu Zhang Yuanying Qiu Xuechao Duan Kangli Xu and Changqi Yang |
| author_sort | Jieyu Zhang |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-04-11T20:56:20Z |
| format | Article |
| id | doaj.art-34848c438a0e4baf8b2137780c274f15 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T20:56:20Z |
| publishDate | 2019-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-34848c438a0e4baf8b2137780c274f152022-12-22T04:03:40ZengMDPI AGSensors1424-82202019-05-011910223410.3390/s19102234s19102234An Improved Robust Method for Pose Estimation of Cylindrical Parts with Interference FeaturesJieyu Zhang0Yuanying Qiu1Xuechao Duan2Kangli Xu3and Changqi Yang4Key Laboratory of Electronic Equipment Structure Design of Ministry of Education, Xidian University, Xi’an 710071, ChinaKey Laboratory of Electronic Equipment Structure Design of Ministry of Education, Xidian University, Xi’an 710071, ChinaKey Laboratory of Electronic Equipment Structure Design of Ministry of Education, Xidian University, Xi’an 710071, ChinaSchool of Mechano-Electronic Engineering, Xidian University, Xi’an 710071, ChinaShanghai Spaceflight Precision Machinery Institute, Shanghai 201600, ChinaHorizontal 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.https://www.mdpi.com/1424-8220/19/10/2234pose measurementlaser scanningellipse fittinginterference featureM-estimationrobustness |
| spellingShingle | Jieyu Zhang Yuanying Qiu Xuechao Duan Kangli Xu and Changqi Yang An Improved Robust Method for Pose Estimation of Cylindrical Parts with Interference Features Sensors pose measurement laser scanning ellipse fitting interference feature M-estimation robustness |
| title | An Improved Robust Method for Pose Estimation of Cylindrical Parts with Interference Features |
| title_full | An Improved Robust Method for Pose Estimation of Cylindrical Parts with Interference Features |
| title_fullStr | An Improved Robust Method for Pose Estimation of Cylindrical Parts with Interference Features |
| title_full_unstemmed | An Improved Robust Method for Pose Estimation of Cylindrical Parts with Interference Features |
| title_short | An Improved Robust Method for Pose Estimation of Cylindrical Parts with Interference Features |
| title_sort | improved robust method for pose estimation of cylindrical parts with interference features |
| topic | pose measurement laser scanning ellipse fitting interference feature M-estimation robustness |
| url | https://www.mdpi.com/1424-8220/19/10/2234 |
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