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METHOD FOR EXTRACTING ROBOT PROCESSING BOUNDARY OF THIN-WALLED PART WITH SMALL CURVATURE BASED ON THREE-DIMENSIONAL POINT CLOUD
METHOD FOR EXTRACTING ROBOT PROCESSING BOUNDARY OF THIN-WALLED PART WITH SMALL CURVATURE BASED ON THREE-DIMENSIONAL POINT CLOUD
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机译:基于三维点云的小曲率提取薄壁部分机器人处理边界的方法
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摘要
The disclosure discloses a method for extracting a boundary of a thin-walled part with small curvature based on three-dimensional point cloud. The method includes: collecting point cloud data of a part to reduce density of the point cloud data, performing Euclidean cluster to divide into point cloud pieces, obtaining triangular mesh surfaces for each point cloud triangulation; extracting a boundary vertex of each triangular mesh surface to obtain a contour thereof, selecting a contour of the part among all contours; searching with each point on the contour as a center to form a three-dimensional boundary point cloud band; projecting the three-dimensional boundary point cloud band to a plane, orderly extracting two-dimensional boundary points within the plane, and arranging corresponding points in the three-dimensional boundary point cloud band according to an order of ordered boundary points within the plane to obtain ordered boundary points in the three-dimensional boundary point cloud band.
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