Hole Repairing Algorithm for 3D Point Cloud Model of Symmetrical Objects Grasped by the Manipulator

For the engineering application of manipulator grasping objects, mechanical arm occlusion and limited imaging angle produce various holes in the reconstructed 3D point clouds of objects. Acquiring a complete point cloud model of the grasped object plays a very important role in the subsequent task p...

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Autores principales:	Linyan Cui, Guolong Zhang, Jinshen Wang
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	3D point cloud hole repair surface reconstruction symmetry Chemical technology TP1-1185
Acceso en línea:	https://doaj.org/article/42d811ceb94042149bdbea6c0f6e3d64
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id	oai:doaj.org-article:42d811ceb94042149bdbea6c0f6e3d64
record_format	dspace
spelling	oai:doaj.org-article:42d811ceb94042149bdbea6c0f6e3d642021-11-25T18:57:26ZHole Repairing Algorithm for 3D Point Cloud Model of Symmetrical Objects Grasped by the Manipulator10.3390/s212275581424-8220https://doaj.org/article/42d811ceb94042149bdbea6c0f6e3d642021-11-01T00:00:00Zhttps://www.mdpi.com/1424-8220/21/22/7558https://doaj.org/toc/1424-8220For the engineering application of manipulator grasping objects, mechanical arm occlusion and limited imaging angle produce various holes in the reconstructed 3D point clouds of objects. Acquiring a complete point cloud model of the grasped object plays a very important role in the subsequent task planning of the manipulator. This paper proposes a method with which to automatically detect and repair the holes in the 3D point cloud model of symmetrical objects grasped by the manipulator. With the established virtual camera coordinate system and boundary detection, repair and classification of holes, the closed boundaries for the nested holes were detected and classified into two kinds, which correspond to the mechanical claw holes caused by mechanical arm occlusion and the missing surface produced by limited imaging angle. These two kinds of holes were repaired based on surface reconstruction and object symmetry. Experiments on simulated and real point cloud models demonstrate that our approach outperforms the other state-of-the-art 3D point cloud hole repair algorithms.Linyan CuiGuolong ZhangJinshen WangMDPI AGarticle3D point cloudhole repairsurface reconstructionsymmetryChemical technologyTP1-1185ENSensors, Vol 21, Iss 7558, p 7558 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	3D point cloud hole repair surface reconstruction symmetry Chemical technology TP1-1185
spellingShingle	3D point cloud hole repair surface reconstruction symmetry Chemical technology TP1-1185 Linyan Cui Guolong Zhang Jinshen Wang Hole Repairing Algorithm for 3D Point Cloud Model of Symmetrical Objects Grasped by the Manipulator
description	For the engineering application of manipulator grasping objects, mechanical arm occlusion and limited imaging angle produce various holes in the reconstructed 3D point clouds of objects. Acquiring a complete point cloud model of the grasped object plays a very important role in the subsequent task planning of the manipulator. This paper proposes a method with which to automatically detect and repair the holes in the 3D point cloud model of symmetrical objects grasped by the manipulator. With the established virtual camera coordinate system and boundary detection, repair and classification of holes, the closed boundaries for the nested holes were detected and classified into two kinds, which correspond to the mechanical claw holes caused by mechanical arm occlusion and the missing surface produced by limited imaging angle. These two kinds of holes were repaired based on surface reconstruction and object symmetry. Experiments on simulated and real point cloud models demonstrate that our approach outperforms the other state-of-the-art 3D point cloud hole repair algorithms.
format	article
author	Linyan Cui Guolong Zhang Jinshen Wang
author_facet	Linyan Cui Guolong Zhang Jinshen Wang
author_sort	Linyan Cui
title	Hole Repairing Algorithm for 3D Point Cloud Model of Symmetrical Objects Grasped by the Manipulator
title_short	Hole Repairing Algorithm for 3D Point Cloud Model of Symmetrical Objects Grasped by the Manipulator
title_full	Hole Repairing Algorithm for 3D Point Cloud Model of Symmetrical Objects Grasped by the Manipulator
title_fullStr	Hole Repairing Algorithm for 3D Point Cloud Model of Symmetrical Objects Grasped by the Manipulator
title_full_unstemmed	Hole Repairing Algorithm for 3D Point Cloud Model of Symmetrical Objects Grasped by the Manipulator
title_sort	hole repairing algorithm for 3d point cloud model of symmetrical objects grasped by the manipulator
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/42d811ceb94042149bdbea6c0f6e3d64
work_keys_str_mv	AT linyancui holerepairingalgorithmfor3dpointcloudmodelofsymmetricalobjectsgraspedbythemanipulator AT guolongzhang holerepairingalgorithmfor3dpointcloudmodelofsymmetricalobjectsgraspedbythemanipulator AT jinshenwang holerepairingalgorithmfor3dpointcloudmodelofsymmetricalobjectsgraspedbythemanipulator
_version_	1718410458333970432

Hole Repairing Algorithm for 3D Point Cloud Model of Symmetrical Objects Grasped by the Manipulator

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