Recognition and Pose Estimation Method for Stacked Sheet Metal Parts

Round 1

Reviewer 1 Report

The authors developed a recognition and pose estimation method for stacked sheet metal parts. To address issues such as detection failure and the difficulty in locating gripping points caused by the stacked placement of irregular parts in the automated sheet metal production process, a highly robust method for the recognition and pose estimation of parts is proposed. First, a decoding framework for parts of two-dimensional code is established. The morphological closed operation and topology of contours are used to locate the two-dimensional code, and the type of the part is decoded according to the structure of the two-dimensional code extracted by the projection method. Second, the recognition model of the occluded part type is constructed. The edge information of parts is extracted. The contour convex hull is used to split the part contours, and the similarity of segmented contours is calculated based on the Fourier transform. Finally, the occluded parts are located. The corner points of the metal parts are extracted by the adjacency factor of the differential chain code sequence and the contour radius of curvature. The transformation matrix between the part and the standard template is calculated using similar contour segments and contour corner points. A stereo vision system is built to detect and localize the occluded parts for experiments. The experimental results show that the decoding framework can accurately decode two-dimensional code made by a laser under low-contrast conditions; the average recognition rate can reach 93% at multiple occlusion rates; the localization error is less than 0.8 mm; and the pose angle error is less than 0.6°. The methods proposed in this paper have high accuracy and robustness.

The paper will be ready for publication after major revision based on the attached pdf file.

Comments for author File: Comments.pdf

Author Response

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Author Response File: Author Response.docx

Reviewer 2 Report

The manuscript titled "Recognition and Pose Estimation Method for Stacked Sheet Metal Parts" is well written. Though the manuscript is acceptable in its current form, the following minor points can be addressed.

1. Abstract lacks sufficient information. Kindly include the need of the experiment and the current state in one or two statements. 

2. Resolution of the figures is very poor. Kindly enhance the redability of the figures by increasing their resolution.

3. Section 5 can be renamed as "Conclusion" and if required, the authors may also include future scope along with the concluding remarks. 

Author Response

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Author Response File: Author Response.docx

Reviewer 3 Report

Reviewer Comments

 

Manuscript Title: Recognition and Pose Estimation Method for Stacked Sheet Metal Parts

Manuscript Number: applsci-2293394

 

The manuscript under review is devoted to simulating and studying the detection failure and the difficulty in locating gripping points caused by the stacked placement of irregular parts in the automated sheet metal production process. A method for the recognition and pose estimation of parts is proposed. A decoding framework for parts of two-dimensional code is established and the recognition model of the occluded part type is constructed. The experimental results approve the decoding framework .

 

The manuscript contains new and significant. The abstract clearly and accurately describes the content of the article. The literature review part contains distinct and rich references. The paper is nicely written and can be accepted but first, it should be improved. I have these comments:

1- Authors define the majority of abbreviation through paragraphs and at the end of the manuscript, but some abbreviation still not defined for example QR in line 44. Please verify all abreviation.

2- The quality of Figure 1 should be improved

3- It will be better if the authors describe the method used to determine the two-dimensional laser-generated code

4- The symbols showed in Figure 2, must be defined and explaind.

 

Finally, I recommend the paper for publication after resolving the minor comments.

Author Response

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Author Response File: Author Response.docx

Round 2

Reviewer 1 Report

Accept.