用新算法实现布料毫米级自动对齐，解决遮挡难题
Robotic Fabric Alignment System for Sewing Using Global Local Weighted ICP
- 结合全局边缘与局部缝线点的加权ICP算法
- 在遮挡和无遮挡下均达毫米级对齐精度
- 适合工业自动化缝纫场景，鲁棒性强
精确的布料对齐是缝纫前的关键步骤。本文提出一种新型自动化布料对齐系统，采用新的全局局部加权迭代最近点（GLW-ICP）方法，估计上下两层布料在任意位置且无褶皱状态下的姿态。系统随后操控上层布料，在边缘和缝线处实现精准对齐。与传统方法不同，GLW-ICP通过全局对齐布料边缘点、局部对齐缝线点至其对应CAD模型点，并剔除遮挡区域的不匹配点，实现整体与局部的协同优化。真实世界实验中，针对多种布料形状，系统在有遮挡与无遮挡条件下均稳定达到毫米级对齐精度，验证了其在实际自动化缝纫场景中的有效性与适用性。
原文摘要 · Abstract (English)
Accurate fabric alignment is a critical step that must be performed before sewing. This paper presents a novel automated fabric alignment system. The system estimates the poses of top and bottom fabric panels, lying flat and wrinkle-free in arbitrary positions, using a new Global Local Weighted Iterative Closest Point (GLW-ICP) method. The system then manipulates the top panel to achieve precise alignment at both edges and sewing lines. Unlike conventional approaches, GLW-ICP robustly aligns both global edges and local sewing lines by globally aligning fabric edge points and locally aligning sewing line points to their corresponding CAD model points, while removing unmatched points in occluded regions. Real-world experiments with various fabric shapes show that the system consistently achieves millimeter-level alignment accuracy under both occlusion and non-occlusion conditions, demonstrating its effectiveness and suitability for automated fabric alignment in practical scenarios.
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