Abstract
Recent, for equipment loading in factories and plants, path planning is done by using shape information of the existing equipment. As the posture of the loading product is determined directly on the scene, an efficient pre planning approach is required. In this study, a 3D measurement of the route (circumstance) is carried out under no shape information, and a method for planning route and posture without interference is developed. In this paper, a method to perform point cloud data correction obtained from infrared 3D measurement sensor is proposed. The sensor used in this study is able to collect depth value and color value (RGB) simultaneously. Therefore, by utilizing the color value, an interpolation for deficient depth value is performed.
