I. Esper, L. E. Cordova-Lopez, P. J. From, A. Mason
This paper presents work relating to an intelligent cutting system for pig carcasses. It generates the cutting trajectories based on the meat factory cell cuts. A 3D point cloud is generated from RGB-D cameras placed arbitrarily in pairs on either side of the pig. The challenge for complete object reconstruction with little or no overlap and a high degree of symmetry is solved using a novel pipeline, then the 3D object is aligned to an atlas of the pig that encompasses the pig’s skin, bones, organs, and the desired cuts.