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首页> 外文期刊>International Journal of Advanced Robotic Systems >An automatic shoe-groove feature extraction method based on robot and structural laser scanning
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An automatic shoe-groove feature extraction method based on robot and structural laser scanning

机译：一种基于机器人和结构激光扫描的自动鞋沟特征提取方法

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摘要

In order to improve the operational efficiency of robot-based shoe manufacturing, a method of shoe-groove tracking based on industrial robot is presented in the article. First, side surface of a shoe upper with a sole is scanned with a laser scanning device. The presented approach mainly consists of two steps: reconstruction of three-dimensional point cloud and feature curve extraction. It is difficult to extract the closed groove curve on shoe surface. We propose an innovative method to simplify the feature extraction through projecting geometric information from three dimension to two dimension, which is convenient to identify longest groove feature line in two-dimensional space. After detecting the two-dimensional groove line, we back project it to three-dimensional space to identify the three-dimensional thick groove point set. Finally, we thin and fit the groove curve into a trackable sequential curve. The experimental results show that the proposed system can effectively detect the shoe groove and generate trackable sequential curve. We also simulate the robot tracking process in a virtual environment to demonstrate the effectiveness of the presented method.
机译：为了提高机器人的鞋制造的操作效率，在制品中提出了一种基于工业机器人的鞋沟跟踪方法。首先，用激光扫描装置扫描具有鞋底的鞋子鞋面的侧表面。所提出的方法主要包括两个步骤：重建三维点云和特征曲线提取。难以在鞋面上提取闭合槽曲线。我们提出了一种创新方法，通过将几何信息从三维突出到两个尺寸来简化特征提取，这方便识别二维空间中的最长凹槽特征线。在检测到二维沟槽线后，我们将其投影到三维空间以识别三维厚槽点集。最后，我们薄并将凹槽曲线置于可跟踪的顺序曲线中。实验结果表明，所提出的系统可以有效地检测鞋槽并产生可跟踪的顺序曲线。我们还模拟了虚拟环境中的机器人跟踪过程，以展示所提出的方法的有效性。

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