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| Paper Abstract and Keywords | ||
| Presentation | 2022-03-11 14:40 Estimating Fitting Situation and Pose of a Connector using RGBD Images for Achieving an Automatic Wire Harness Manufacturing Masachika Kamada (Waseda Univ.), Eiji Fukuzawa (Yazaki Corp.), Jun Ohya (Waseda Univ.)  IMQ2021-53 IE2021-115 MVE2021-82 |
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| Abstract | (in Japanese) | (See Japanese page) |
| (in English) | The purpose of this research is to automate the wiring harness manufacturing process, which is currently carried out manually by robots. In this process, a connector attached to the end of a wire harness is inserted into a connector holder. The automated system under development sometimes fails to insert the connector. In order to deal with this problem, we developed a basic technology to determine whether the fitting is successful or not, and if not, what the posture of the connector is, using a 3D camera. We proposed to use YOLOv4 to detect the connector and compare the bounding box center coordinates and depth to determine the connector fitting status. We also proposed to estimate the connector pose by estimating the shooting direction using YOLOv4 and aligning point cloud using ICP algorithm. The effectiveness of this method was demonstrated by experiments. | |
| Keyword | (in Japanese) | (See Japanese page) |
| (in English) | wire harness / routing / connector / automation / YOLOv4 / point cloud / icp algorithm / | |
| Reference Info. | IEICE Tech. Rep., vol. 121, no. 422, IE2021-115, pp. 222-227, March 2022. | |
| Paper # | IE2021-115 | |
| Date of Issue | 2022-03-02 (IMQ, IE, MVE) | |
| ISSN | Online edition: ISSN 2432-6380 | |
| Copyright and reproduction |
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) | |
| Download PDF | IMQ2021-53 IE2021-115 MVE2021-82 |
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| Conference Information | |
| Committee | CQ IMQ MVE IE |
| Conference Date | 2022-03-09 - 2022-03-11 |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Online (Zoom) |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | Media of five senses, Multimedia, Media experience, Picture codinge, Image media quality, Network,quality and reliability, etc |
| Paper Information | |
| Registration To | IE |
| Conference Code | 2022-03-CQ-IMQ-MVE-IE |
| Language | Japanese |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Estimating Fitting Situation and Pose of a Connector using RGBD Images for Achieving an Automatic Wire Harness Manufacturing |
| Sub Title (in English) | |
| Keyword(1) | wire harness |
| Keyword(2) | routing |
| Keyword(3) | connector |
| Keyword(4) | automation |
| Keyword(5) | YOLOv4 |
| Keyword(6) | point cloud |
| Keyword(7) | icp algorithm |
| Keyword(8) | |
| 1st Author's Name | Masachika Kamada |
| 1st Author's Affiliation | Waseda University (Waseda Univ.) |
| 2nd Author's Name | Eiji Fukuzawa |
| 2nd Author's Affiliation | Yazaki Corporation (Yazaki Corp.) |
| 3rd Author's Name | Jun Ohya |
| 3rd Author's Affiliation | Waseda University (Waseda Univ.) |
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| Speaker | Author-1 |
| Date Time | 2022-03-11 14:40:00 |
| Presentation Time | 25 minutes |
| Registration for | IE |
| Paper # | IMQ2021-53, IE2021-115, MVE2021-82 |
| Volume (vol) | vol.121 |
| Number (no) | no.420(IMQ), no.422(IE), no.423(MVE) |
| Page | pp.222-227 |
| #Pages | 6 |
| Date of Issue | 2022-03-02 (IMQ, IE, MVE) |
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