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2D/3D Localization and Pose Estimation of Harness Cables Using A Configurable Structure Representation for Robot Operations

  • US 20140267614A1
  • Filed: 03/15/2013
  • Published: 09/18/2014
  • Est. Priority Date: 03/15/2013
  • Status: Active Grant
First Claim
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1. A cable harness visualization system, comprising:

  • a three-dimensional, i.e., 3D, imaging system imaging at least one physical cable harness and creating a 3D cable harness model of the imaged physical cable harness;

    a cable structure representation module representing said 3D cable harness model in terms of sets of predefined primitive 3D shapes and node markers, each primitive 3D geometric shape being of known dimensions, the imaged physical cable harness having connectors and non-rigid cable segments, said node markers defining the opposing ends of said non-rigid cable segments, each non-rigid cable segment being joined to a connector or to another non-rigid cable segment at a node marker;

    wherein;

    each non-rigid cable segment is represented by a corresponding one of said sets of predefined primitive 3D shapes;

    the corresponding set of predefined primitive 3D shapes consisting of a train of primitive 3D geometric shapes that spatially track the path of its corresponding non-rigid cable segment, each non-rigid cable segment extends into the interior of its corresponding train of geometric shapes, and the individual geometric shapes within a train of geometric shapes turn in accord with twists and turns of the non-rigid cable segment they represent.

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