The car washing control method using 3D contour segmentation

This paper presents a car washing control method to extract the contour of car in 3D point cloud using techniques in computational geometry. The point set contour extraction method is better than directly dealing with pixels as in traditional contour extraction methods. Depth and height filter is used to remove the background and ground. Two candidate contour points are found by smallest clockwise turn angle from last contour point to this point in two circles. The next contour point is decided by the two turn angles difference. The spacing and angle correction is used to improve the system accuracy. The car surface and wheels washing path is discussed to wash the car effectively. This car washing control method has higher resolution and less running time, which has a high practical value.