Identification and reconstruction of complex weld geometry based on modified entropy
Soheil Keshmiri, Yan Zhi Tan, Xin Zheng, Syeda Mariam Ahmed, Yue Wu, Wen Feng Lu, Chee Meng Chew, Chee Khiang Pang
Abstract
In this paper, a modified entropy-based algorithm is proposed for identification and reconstruction of a complex weld geometry. The edge of the weld geometry is identified based on minimizing a modified entropy-type cost function, and the weld geometry is reconstructed based on the detected edge. In addition, the volume of the weld geometry is computed using the point cloud samples of the identified weld geometry, and the effects of Gaussian noise are also considered. Our simulation results using the proposed reconstruction algorithm demonstrate efficient identification and reconstruction of a complex weld geometry in the presence of Gaussian noise.
BibTeX
@inproceedings{iros2015_identificationan,
title = {Identification and reconstruction of complex weld geometry based on modified entropy},
author = {Soheil Keshmiri and Yan Zhi Tan and Xin Zheng and Syeda Mariam Ahmed and Yue Wu and Wen Feng Lu and Chee Meng Chew and Chee Khiang Pang},
booktitle = {IROS 2015},
year = {2015}
}