Abstract: Disclosed herein are methods and apparatuses for determining positions of food processing curved articles and saddling such articles. The methods include scanning the article by a detection device to generate point cloud data representing the article spatial surface structure and selecting a central point. The methods include determining a partial point cloud from the points within a predefined distance around the central point and calculating the partial point cloud principal orientation for two spatial directions by determining the two associated spatial position vectors. The methods include calculating a partial surface normal vector based on the determined spatial position vectors that is perpendicular to both vectors and marking partial point cloud points as processed. The methods include repeating such steps until a predefined proportion is processed.

Abstract: A method, apparatus and arrangement for determining food processing curved articles position and automatically saddling such articles includes: a) scanning the article by a detection device to generate point cloud data representing the article spatial surface structure; b) selecting a central point, determining a partial point cloud from the points within a predefined distance around the central point; c) calculating the partial point cloud principal orientation for two spatial directions by determining the two associated spatial position vectors; d) calculating a partial surface normal vector based on the determined spatial position vectors that is perpendicular to both vectors; e) marking partial point cloud points as processed, and repeating steps b-d for further unmarked points until a predefined proportion are processed; f) selecting a predefined number of calculated partial surface normal vectors and calculating overall orientation of the article by determining a normal vector based on selected partial