Fig. 1. Schematic diagram of the line laser sensor deployment

Fig. 2. Coordinate transformation of the line laser sensor

Fig. 3. (a) Comparison of filtering algorithms; (b) Cubic spline interpolation is performed on the filtered profile point cloud; (c) Curvature calculation result; (d) The result of finding edge point

Fig. 4. Schematic diagram of segment coordinate systems

Fig. 5. Assembly process of segment

Fig. 6. (a) Schematic diagram before the completion of the movement of the segment under assembly; (b) Schematic diagram after the completion of the movement of the segment under assembly

Fig. 7. Side view of the adjacent curved sides of the segment under assembly and the assembled segment

Fig. 8. Schematic diagram of segment under assembly rotating around the inner surface axis

Fig. 9. Experimental platform of segment assembly

Fig. 10. Assembly process. (a) Initial position and pose; (b) Middle position and pose; (c) Final position and pose

Fig. 11. (a) Level difference of segment assembly; (b) Gap of segment assembly