A Two-Stage Approach for Wire Harness Cable Description Using 3D Point Clouds for Robotic Manufacturing

Takumi Okuyama, Pei-Chun Chien, Hiroki Tsukida, Yoichi Kato, Jun Ohya

2025

Abstract

This paper proposes a two-stage methodology for accurately describing three-dimensional cable position aiming to examine robot-based automated cable placement systems to work correctly in wire harness manufacturing. The first stage is to extract 3D points on cables from point cloud acquired using a 3D stereo camera. For extracting only the points on cables, we compare two sets of point clouds which are taken before laying cables on an assembly board which holds the cables temporarily for taping and additional works, and after laying cables. We propose a new method to eliminate unnecessary points such as points on the assembly board and noises to get points only on cables from the two point cloud sets. In the second stage, cable positions are approximated as a mathematical function, B-Spline or Bézier curve, by interpolating the extracted 3D points. We use Smoothness, Curve Length, and Chamfer Distance as the evaluation criteria to assess the fitting quality to the original cable geometry. Experiment results indicate that B-Spline provides smooth approximation, while Bézier curve can represent curve with rapid transition such as sharp bents. Measured Chamfer Distance is a few times as large as the radius of the cables or shorter, demonstrating high fitting accuracy. This approach offers a practical solution for cable recognition in automation contexts, with potential applications in automotive and manufacturing industries.

Paper Citation

in Harvard Style

Okuyama T., Chien P., Tsukida H., Kato Y. and Ohya J. (2025). A Two-Stage Approach for Wire Harness Cable Description Using 3D Point Clouds for Robotic Manufacturing. In Proceedings of the 14th International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM; ISBN 978-989-758-730-6, SciTePress, pages 689-695. DOI: 10.5220/0013246100003905

in Bibtex Style

@conference{icpram25,
author={Takumi Okuyama and Pei-Chun Chien and Hiroki Tsukida and Yoichi Kato and Jun Ohya},
title={A Two-Stage Approach for Wire Harness Cable Description Using 3D Point Clouds for Robotic Manufacturing},
booktitle={Proceedings of the 14th International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM},
year={2025},
pages={689-695},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013246100003905},
isbn={978-989-758-730-6},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 14th International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM
TI - A Two-Stage Approach for Wire Harness Cable Description Using 3D Point Clouds for Robotic Manufacturing
SN - 978-989-758-730-6
AU - Okuyama T.
AU - Chien P.
AU - Tsukida H.
AU - Kato Y.
AU - Ohya J.
PY - 2025
SP - 689
EP - 695
DO - 10.5220/0013246100003905
PB - SciTePress