Related papers: Shapes In A Box -- Disassembling 3D objects for ef…

Autonomous dual-arm manipulation is an essential skill to deploy robots in unstructured scenarios. However, this is a challenging undertaking, particularly in terms of perception and planning. Unstructured scenarios are full of objects with…

Packing optimization is a prevalent problem that necessitates robust and efficient algorithms that are also simple to implement. One group of approaches is the raster methods, which rely on approximating the objects with pixelated…

Visual object counting is a fundamental computer vision task in industrial inspection, where accurate, high-throughput inventory tracking and quality assurance are critical. Moreover, manufactured parts are often too light to reliably…

Existing shape estimation methods for deformable object manipulation suffer from the drawbacks of being off-line, model dependent, noise-sensitive or occlusion-sensitive, and thus are not appropriate for manipulation tasks requiring high…

The aim in packing problems is to decide if a given set of pieces can be placed inside a given container. A packing problem is defined by the types of pieces and containers to be handled, and the motions that are allowed to move the pieces.…

Due to the wide diffusion of 3D printing technologies, geometric algorithms for Additive Manufacturing are being invented at an impressive speed. Each single step, in particular along the Process Planning pipeline, can now count on dozens…

Stochastic partition models divide a multi-dimensional space into a number of rectangular regions, such that the data within each region exhibit certain types of homogeneity. Due to the nature of their partition strategy, existing partition…

We study a natural geometric variant of the classic Knapsack problem called 2D-Knapsack: we are given a set of axis-parallel rectangles and a rectangular bounding box, and the goal is to pack as many of these rectangles inside the box…

Shape assembly composes complex shapes geometries by arranging simple part geometries and has wide applications in autonomous robotic assembly and CAD modeling. Existing works focus on geometry reasoning and neglect the actual physical…

In this study, we present a block-based heuristic search algorithm to address the nuclear waste container packing problem in the context of real-world nuclear power plants. Additionally, we provide a dataset comprising 1600 problem…

Packing problems are in general NP-hard, even for simple cases. Since now there are no highly efficient algorithms available for solving packing problems. The two-dimensional bin packing problem is about packing all given rectangular items,…

We propose a Deep Reinforcement Learning (Deep RL) algorithm for solving the online 3D bin packing problem for an arbitrary number of bins and any bin size. The focus is on producing decisions that can be physically implemented by a robotic…

We propose a method for converting geometric shapes into hierarchically segmented parts with part labels. Our key idea is to train category-specific models from the scene graphs and part names that accompany 3D shapes in public…

We present a mathematical and algorithmic scheme for learning the principal geometric elements in an image or 3D object. We build on recent work that convexifies the basic problem of finding a combination of a small number shapes that…

In the context of future manufacturing lines, removing fixtures will be a fundamental step to increase the flexibility of autonomous systems in assembly and logistic operations. Vision-based 3D pose estimation is a necessity to accurately…

Finding correspondences between 3D shapes is a crucial problem in computer vision and graphics, which is for example relevant for tasks like shape interpolation, pose transfer, or texture transfer. An often neglected but essential property…

Visual object counting is a fundamental computer vision task underpinning numerous real-world applications, from cell counting in biomedicine to traffic and wildlife monitoring. However, existing methods struggle to handle the challenge of…

We present Image Sculpting, a new framework for editing 2D images by incorporating tools from 3D geometry and graphics. This approach differs markedly from existing methods, which are confined to 2D spaces and typically rely on textual…

We present a simple yet effective general-purpose framework for modeling 3D shapes by leveraging recent advances in 2D image generation using CNNs. Using just a single depth image of the object, we can output a dense multi-view depth map…

We present filling as a new type of spatial subdivision problem that is related to covering and packing. Filling addresses the optimal placement of overlapping objects lying entirely inside an arbitrary shape so as to cover the most…