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Laser ＆ Optoelectronics Progress. 2017, (12) Core

Point Cloud Segmentation of Scattered Workpieces Based on Improved Euclidean ClusteringChinese Full TextEnglish Full Text (MT)

Tian Qinghua;Bai Ruilin;Li Du;Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education),Jiangnan University;Xinje Electronic Co.,Ltd.;

Abstract: Aiming at the difficulty of scene segmentation in the process of robotic random bin picking,apoint cloud segmentation method based on the improved Euclidean clustering is proposed.The pass-through filter and the iterative radius filtering are used for the pretreatment to obtain the point cloud of scattered workpieces after removing the interference points.The edge points in the point cloud are removed by the edge detection based on normal angle,and the inter-collision workpieces are separated in... More
Keywords：

machine vision; Euclidean clustering; point cloud segmentation; adaptive clustering; random bin picking; clustering segmentation;

  • Series：

    (I) Electronic Technology ＆ Information Science

  • Subject：

    Computer Software and Application of Computer; Automation Technology

  • Classification Code：

    TP242;TP391.41

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