PROCESSING CURVED RAW WOOD BY ESTIMATING THE POSTURE AND POSITION IN A SINGLE SHOT

The conventional workflow for producing wooden parts requires the wood workpiece to be firmly secured in the position predetermined by a processing path generation step. As a result, it is difficult to process curved raw wood pieces using machines. To overcome this difficulty, we developed a single-shot posture estimation technique using pre-reconstructed 3D points and features, as well as a processing path transformation technique that adjusts the path according to the actual posture of the fixed workpiece. A curved beam named “taiko bari” was processed and subsequently tested. The results demonstrated that the proposed techniques are suitable for practical applications.