Related papers: Shapes In A Box -- Disassembling 3D objects for ef…
This work studies rearrangement problems involving the sorting of robots or objects in stack-like containers, which can be accessed only from one side. Two scenarios are considered: one where every robot or object needs to reach a…
Packing is a complex phenomenon of prominence in many natural and industrial processes (liquid crystals, granular materials, infiltration, melting, flow, sintering, segregation, sedimentation, compaction, etc.). A variety of computational…
Segmenting 3D assets into their constituent parts is crucial for enhancing 3D understanding, facilitating model reuse, and supporting various applications such as part generation. However, current methods face limitations such as poor…
Sequential assembly with geometric primitives has drawn attention in robotics and 3D vision since it yields a practical blueprint to construct a target shape. However, due to its combinatorial property, a greedy method falls short of…
Industrial bin picking is a challenging task that requires accurate and robust segmentation of individual object instances. Particularly, industrial objects can have irregular shapes, that is, thin and concave, whereas in bin-picking…
Vision algorithm-based robotic arm grasping system is one of the robotic arm systems that can be applied to a wide range of scenarios. It uses algorithms to automatically identify the location of the target and guide the robotic arm to…
Object class detection has been a synonym for 2D bounding box localization for the longest time, fueled by the success of powerful statistical learning techniques, combined with robust image representations. Only recently, there has been a…
We study the two-dimensional hierarchical rectangle packing problem, motivated by applications in analog integrated circuit layout, facility layout, and logistics. Unlike classical strip or bin packing, the dimensions of the container are…
In response to the growing challenges of manual labor and efficiency in warehouse operations, Amazon has embarked on a significant transformation by incorporating robotics to assist with various tasks. While a substantial number of robots…
Recent advances have enabled 3d object reconstruction approaches using a single off-the-shelf RGB-D camera. Although these approaches are successful for a wide range of object classes, they rely on stable and distinctive geometric or…
We explore approximation algorithms for the $d$-dimensional geometric bin packing problem ($d$BP). Caprara (MOR 2008) gave a harmonic-based algorithm for $d$BP having an asymptotic approximation ratio (AAR) of $T_{\infty}^{d-1}$ (where…
Reasoning 3D shapes from 2D images is an essential yet challenging task, especially when only single-view images are at our disposal. While an object can have a complicated shape, individual parts are usually close to geometric primitives…
In this paper, we propose a general approach to optimize anchor boxes for object detection. Nowadays, anchor boxes are widely adopted in state-of-the-art detection frameworks. However, these frameworks usually pre-define anchor box shapes…
Higher-dimensional orthogonal packing problems have a wide range of practical applications, including packing, cutting, and scheduling. In the context of a branch-and-bound framework for solving these packing problems to optimality, it is…
Recent probabilistic methods for 3D triangular meshes capture diverse shapes by differentiable mesh connectivity, but face high computational costs with increased shape details. We introduce a new differentiable mesh processing method that…
There is increasing demand for automated systems that can fabricate 3D structures. Robotic spatial extrusion has become an attractive alternative to traditional layer-based 3D printing due to a manipulator's flexibility to print large,…
Open-world 3D part segmentation is pivotal in diverse applications such as robotics and AR/VR. Traditional supervised methods often grapple with limited 3D data availability and struggle to generalize to unseen object categories. PartSLIP,…
Online 3-dimensional bin packing problem (O3D-BPP) is getting renewed prominence due to the industrial automation brought by Industry 4.0. However, due to limited attention in the past and its challenging nature, a good approximate…
This paper investigates, using prior shape models and the concept of ball scale (b-scale), ways of automatically recognizing objects in 3D images without performing elaborate searches or optimization. That is, the goal is to place the model…
This paper considers the one-dimensional cutting stock problem with divisible items, which is a new problem in the cutting stock literature. The problem exists in steel industries. In the new problem, each item can be divided into smaller…