Automatic tiling method for mosaic ceramic art images based on subpixel edge fitting localization and collaborative operation of multiple manipulators

Mosaic ceramics are not limited to use solely as building materials, they also possess artistic value. Artists can create images by arranging and combining mosaic ceramics, resulting in a perfect fusion of large-scale public art for external walls and ceramic materials. However, the current approach for artists to create mosaic ceramic exterior wall art images involves manual laying and assembling of individual mosaic ceramics. This manual process suffers from issues such as low efficiency, eye fatigue, selection errors, and the risk of high-altitude operations. These challenges significantly impact the quality and efficiency of creating mosaic ceramic exterior wall art image images. To address these problems, this paper proposes an automatic mosaic ceramic art image stitching method based on subpixel edge fitting positioning and collaborative operation of multiple robotic arms. Additionally, a new U + I type conveying method is designed for efficient and space-saving transportation of mosaic ceramics. Experimental results demonstrate a high success rate of recognition, absorption, and placement of multi-color mosaic ceramics using this method reaching 95.45%, with a positioning error within 0.5 mm. The method can also adapt to varying levels of light intensity or noise interference. This approach effectively enhances the quality and efficiency of creating mosaic ceramic exterior wall art images and promotes the development of mosaic ceramic exterior wall public art creation.