The installation of segments by a segment erector on Tunnel Boring Machines (TBMs) is a critical process in modern tunnelling projects. As the TBM advances through the ground, it simultaneously installs precast concrete segments to form the tunnel lining, providing immediate structural support. The segment erector, a precise and robotic arm located within the TBM, lifts and positions each segment into place. This task requires high accuracy to ensure the segments fit perfectly together, forming