A marker-less assembly stage recognition method based on corner feature |
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| Affiliation: | 1. School of Mechanical Engineering, Northwestern Polytechnical University, Xi’an 710072, China;2. AVIC Xi’an Aircraft Industry Group Company LTD, Xi’an 710089, China;1. Department of Civil and Environmental Engineering, The University of Auckland, Auckland, New Zealand;2. Department of Civil and Environmental Engineering, The University of Alberta, Edmonton, Canada;3. Department of Computer Science, The University of Auckland, Auckland, New Zealand;4. Escuela de Ingeniería Informática, Pontificia Universidad Católica de Valparaíso, Chile;1. School of Electronics and Communication Engineering, Shenzhen Campus of Sun Yat-sen University, Shenzhen 518107, China;2. Science and Technology on Near-Surface Detection Laboratory, Wuxi 214035, China;3. Department of Science and Technology, Agricultural Bank of China Guangdong Branch, Guangzhou 511430, China;4. Department of Early Warning Technology, Air Force Early Warning Academy, Wuhan 430010, China;5. The Fifth Affiliated Hospital, Guangzhou Medical University, Guangzhou 510700, China;1. Instituto Universitario de Investigación en Tecnología Centrada en el Ser Humano, Universitat Politècnica de València, Valencia, Spain;2. Dpto. de Ingeniería Mecánica y Construcción, Universitat Jaume I, Castellón, Spain;3. School of Engineering Technology, Purdue University, West Lafayette, IN, USA |
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| Abstract: | Fast and robust product assembly stage recognition is a key step in human–machine cooperative assembly. To solve the recognition problem of similar adjacent assembly stages, a marker-less assembly stage recognition method is proposed based on corner feature between an assembling product and a digital model. Considering the geometric features of mechanical products, a corner identification method is proposed based on the circumferential angle difference (CADF). Then a corner matching method based on distance constraint is studied for ICP registration to realize the point cloud registration between the product and digital model. Based on the registration relationship, a similarity algorithm based on proximity point proportion is used to calculate the similarity between models and the input assembling product. The model with the greatest similarity is taken as the stage recognition result. In experiments on four group assembling products, the average stage recognition accuracy is 96.15%, which indicates that the proposed method can solve the stage recognition problem. The corner identification method based on the CADF outperforms the Harris-3D corner detection method in the efficiency of assembly stage recognition. |
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| Keywords: | Assembly stage recognition CAD model Corner identification Corner matching Similarity calculation |
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