相关论文: SDF-Pack: Towards Compact Bin Packing with Signed-…
This paper presents a novel post-processing methodology for extracting high-quality geometries from density-based topology optimization results. Current post-processing approaches often struggle to simultaneously achieve smooth boundaries,…
Object completion networks typically produce static Signed Distance Fields (SDFs) that faithfully reconstruct geometry but cannot be rescaled or deformed without introducing structural distortions. This limitation restricts their use in…
We investigate a real-life air cargo loading problem which is a variant of the three-dimensional Variable Size Bin Packing Problem with special bin forms of cuboid and non-cuboid unit load devices (ULDs). Packing is constrained by…
We address the problem of clothed human reconstruction from a single image or uncalibrated multi-view images. Existing methods struggle with reconstructing detailed geometry of a clothed human and often require a calibrated setting for…
Vision-centric 3D environment understanding is both vital and challenging for autonomous driving systems. Recently, object-free methods have attracted considerable attention. Such methods perceive the world by predicting the semantics of…
Autonomous systems need to understand the semantics and geometry of their surroundings in order to comprehend and safely execute object-level task specifications. This paper proposes an expressive yet compact model for joint object pose and…
We propose a novel 3D spatial representation for data fusion and scene reconstruction. Probabilistic Signed Distance Function (Probabilistic SDF, PSDF) is proposed to depict uncertainties in the 3D space. It is modeled by a joint…
Signed distance functions (SDFs) is an attractive framework that has recently shown promising results for 3D shape reconstruction from images. SDFs seamlessly generalize to different shape resolutions and topologies but lack explicit…
The majority of approaches for acquiring dense 3D environment maps with RGB-D cameras assumes static environments or rejects moving objects as outliers. The representation and tracking of moving objects, however, has significant potential…
In this paper we present a fast scalable heuristic for bin packing that partitions the given problem into identical sub-problems of constant size and solves these constant size sub-problems by considering only a constant number of bin…
Robotic fiber positioner (RFP) arrays are becoming heavily adopted in wide field massively multiplexed spectroscopic survey instruments. RFP arrays decrease nightly operational overheads through rapid reconfiguration between fields and…
3D decomposition/segmentation still remains a challenge as large-scale 3D annotated data is not readily available. Contemporary approaches typically leverage 2D machine-generated segments, integrating them for 3D consistency. While the…
High-dimensional manipulator operation in unstructured environments requires a differentiable, scene-agnostic distance query mechanism to guide safe motion generation. Existing geometric collision checkers are typically non-differentiable,…
Robust visual localization for urban vehicles remains challenging and unsolved. The limitation of computation efficiency and memory size has made it harder for large-scale applications. Since semantic information serves as a stable and…
Robotic bin packing is widely deployed in warehouse automation, with current systems achieving robust performance through heuristic and learning-based strategies. These systems must balance compact placement with rapid execution, where…
Object rearrangement is a widely-applicable and challenging task for robots. Geometric constraints must be carefully examined to avoid collisions and combinatorial issues arise as the number of objects increases. This work studies the…
This paper introduces an efficient procedure to localize user-defined points on the surface of deformable objects and track their positions in 3D space over time. To cope with a deformable object's infinite number of DOF, we propose a…
Bin Packing problems have been widely studied because of their broad applications in different domains. Known as a set of NP-hard problems, they have different vari- ations and many heuristics have been proposed for obtaining approximate…
We investigate approximation algorithms for several fundamental optimization problems on geometric packing. The geometric objects considered are very generic, namely $d$-dimensional convex fat objects. Our main contribution is a versatile…
Robotic-based compact storage and retrieval systems provide high-density storage in distribution center and warehouse applications. In the system, items are stored in bins, and the bins are organized inside a three-dimensional grid. Robots…