Pengxia Cao and Yibo Huang, Journal of Information Processing Systems Vol. 21, No. 2, pp. 163-179, Apr. 2025  

https://doi.org/10.3745/JIPS.04.0342
Keywords: Augmented Reality (AR), Iterative Closest Point (ICP) Registration, LINEMOD Template Matching, Product Assembly, Tracking Registration Method
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Abstract

To solve the problems of assembly object variety, volume difference, and texture features not being obvious in the intelligent products assembly process, augmented-reality technology was employed. To improve the feasibility and robustness of the augmented-reality tracking registration algorithm in the product assembly scenarios, combined with the weak texture of product assembly operation objects and the complex scenes, a real-time and robust unmarked tracking registration method was proposed. First, the multimodal approach of LINEMOD was improved to detect the weakly textured assembly target base so that the rough pose of the camera can be obtained and the problem of reinitialization can be solved when the process of tracking registration is interrupted. Then, the iterative closest point (ICP) registration algorithm was improved to accelerate the registration process while accurately positioning the camera pose to determine the benchmark for virtual-real fusion. Finally, based on the pose relationship between the assembly and the assembly guidance information established in the offline phase, visual guidance of the assembly process was realized. A performance analysis and comparison of the proposed tracking registration method show that the proposed method has better accuracy than the LINEMOD template matching method. The visual display of the assembly guidance process shows that the proposed method can be applied to the assembly scene of products lacking texture to realize intelligent assembly.

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