Fig. 1. Platform of robotic assembly

Fig. 2. Outliers and noise of point cloud

Fig. 3. Results of supervoxel segmentation and CPC clustering

Fig. 4. Results of supervoxel segmentation

Fig. 5. Outliers and noise of the edge

Fig. 6. Schematic diagram of the weight function

Fig. 7. Results of plane fitting

Fig. 8. Point cloud

Fig. 9. Inliers of countersunk-hole

Fig. 10. Profile of countersunk-hole

Fig. 11. Contact force generated when the cylindrical shaft part contacts the hole wall

Fig. 12. Platform of countersunk-hole part assembly

Fig. 13. Comparison of plane fitting results

Fig. 14. Comparison of plane fitting results under outliers

Fig. 15. Process of countersunk hole pose estimation

Fig. 16. Assembly process

Fig. 17. Force and torque