Extraction of Weld Seam in 3D Point Clouds for Real Time Welding Using 5 DOF Robotic Arm

Author(s):  
Vrushali Patil ◽  
Indraneel Patil ◽  
V. Kalaichelvi ◽  
R. Karthikeyan
Author(s):  
Jianqing Wu ◽  
Hao Xu ◽  
Yuan Sun ◽  
Jianying Zheng ◽  
Rui Yue

The high-resolution micro traffic data (HRMTD) of all roadway users is important for serving the connected-vehicle system in mixed traffic situations. The roadside LiDAR sensor gives a solution to providing HRMTD from real-time 3D point clouds of its scanned objects. Background filtering is the preprocessing step to obtain the HRMTD of different roadway users from roadside LiDAR data. It can significantly reduce the data processing time and improve the vehicle/pedestrian identification accuracy. An algorithm is proposed in this paper, based on the spatial distribution of laser points, which filters both static and moving background efficiently. Various thresholds of point density are applied in this algorithm to exclude background at different distances from the roadside sensor. The case study shows that the algorithm can filter background LiDAR points in different situations (different road geometries, different traffic demands, day/night time, different speed limits). Vehicle and pedestrian shape can be retained well after background filtering. The low computational load guarantees this method can be applied for real-time data processing such as vehicle monitoring and pedestrian tracking.


2021 ◽  
Vol 11 (13) ◽  
pp. 5941
Author(s):  
Mun-yong Lee ◽  
Sang-ha Lee ◽  
Kye-dong Jung ◽  
Seung-hyun Lee ◽  
Soon-chul Kwon

Computer-based data processing capabilities have evolved to handle a lot of information. As such, the complexity of three-dimensional (3D) models (e.g., animations or real-time voxels) containing large volumes of information has increased exponentially. This rapid increase in complexity has led to problems with recording and transmission. In this study, we propose a method of efficiently managing and compressing animation information stored in the 3D point-clouds sequence. A compressed point-cloud is created by reconfiguring the points based on their voxels. Compared with the original point-cloud, noise caused by errors is removed, and a preprocessing procedure that achieves high performance in a redundant processing algorithm is proposed. The results of experiments and rendering demonstrate an average file-size reduction of 40% using the proposed algorithm. Moreover, 13% of the over-lap data are extracted and removed, and the file size is further reduced.


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