相关论文: Robotic Depowdering for Additive Manufacturing Via…

In this paper, we present a multi-object 6D detection and tracking pipeline for potentially similar and non-textured objects. The combination of a convolutional neural network for object classification and rough pose estimation with a local…

3D printing using robots has garnered significant interest in manufacturing and construction in recent years. A robot's versatility paired with the design freedom of 3D printing offers promising opportunities for how parts and structures…

Robotic Wire Arc Additive Manufacturing (WAAM) is a metal additive manufacturing technology, offering flexible 3D printing while ensuring high quality near-net-shape final parts. However, WAAM also suffers from geometric imprecision,…

Object 6DoF (6D) pose estimation is essential for robotic perception, especially in industrial settings. It enables robots to interact with the environment and manipulate objects. However, existing benchmarks on object 6D pose estimation…

Generating pose-aligned 3D objects is challenging due to the spatial mismatches and transformation ambiguities inherent in decoupled canonical-then-rotate paradigms. To this end, we introduce Pose-Aware Diffusion (PAD), a novel end-to-end…

The reproduction of automobile components through additive manufacturing presents significant geometric challenges, as many automotive parts feature complex, organically shaped surfaces that are difficult to fabricate accurately using…

Generalizable perception is one of the pillars of high-level autonomy in space robotics. Estimating the structure and motion of unknown objects in dynamic environments is fundamental for such autonomous systems. Traditionally, the solutions…

3D printing has enabled various applications using different forms of materials, such as filaments, sheets, and inks. Typically, during 3D printing, feedstocks are transformed into discrete building blocks and placed or deposited in a…

We present a method for fabricating general models with multi-directional 3D printing systems by printing different model regions along with different directions. The core of our method is a support-effective volume decomposition algorithm…

We propose C3DPO, a method for extracting 3D models of deformable objects from 2D keypoint annotations in unconstrained images. We do so by learning a deep network that reconstructs a 3D object from a single view at a time, accounting for…

In the current demand for automation in the agro-food industry, accurately detecting and localizing relevant objects in 3D is essential for successful robotic operations. However, this is a challenge due the presence of occlusions.…

The problem of segmenting a given image into coherent regions is important in Computer Vision and many industrial applications require segmenting a known object into its components. Examples include identifying individual parts of a…

Additive manufacturing techniques are revolutionizing product development by enabling fast turnaround from design to fabrication. However, the throughput of the rapid prototyping pipeline remains constrained by print optimization, requiring…

Most recent 6D object pose estimation methods first use object detection to obtain 2D bounding boxes before actually regressing the pose. However, the general object detection methods they use are ill-suited to handle cluttered scenes, thus…

The accurate estimation of 6D pose remains a challenging task within the computer vision domain, even when utilizing 3D point cloud data. Conversely, in the manufacturing domain, instances arise where leveraging prior knowledge can yield…

We introduce DOPE, the first method to detect and estimate whole-body 3D human poses, including bodies, hands and faces, in the wild. Achieving this level of details is key for a number of applications that require understanding the…

Accurate shape sensing, only achievable through distributed proprioception, is a key requirement for closed-loop control of soft robots. Low-cost power efficient optoelectronic sensors manufactured from flexible materials represent a…

Region-based methods have become increasingly popular for model-based, monocular 3D tracking of texture-less objects in cluttered scenes. However, while they achieve state-of-the-art results, most methods are computationally expensive,…

Additive manufacturing has become one of the forefront technologies in fabrication, enabling new products impossible to manufacture before. Although many materials exist for additive manufacturing, they typically suffer from performance…

Recent approaches to point tracking are able to recover the trajectory of any scene point through a large portion of a video despite the presence of occlusions. They are, however, too slow in practice to track every point observed in a…