Abstract
We propose an innovative algorithm for cable parameters calculation based on the dense 3D Point Cloud. After finishing the aircraft cabin wiring work, the cable parameters need to be calculated to judge whether the wiring work is qualified or not. However, there are still some problems in calculating cable parameters for the robot applications. The cable is a deformable linear object without any specific shape and length, and its particular environment is also very complex. Therefore, What transpired in this paper is a cable parameters calculation algorithm based on relevant algorithms of dense point clouds with the aim of achieving accurate and efficient parameters calculation. First, the algorithm adopts the point cloud segmentation to get the cable, and the part of it is captured by the Octree Map. The minimum bounding box is also used to calculate the cable diameter. Then the path of the cable is created with the path finding algorithm, and the B-spline curve is fitted to the cable. Finally, after calculating the arc length of the curve through the numerical integration method, the feasibility of the algorithm is fully confirmed by experiments.
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Fan, Z., Guo, L., Chen, Y., Xiao, F., Zhang, J. (2022). CPC: Cable Parameters Calculation Based on 3D Point Cloud. In: Liu, H., et al. Intelligent Robotics and Applications. ICIRA 2022. Lecture Notes in Computer Science(), vol 13458. Springer, Cham. https://doi.org/10.1007/978-3-031-13841-6_25
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DOI: https://doi.org/10.1007/978-3-031-13841-6_25
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