Accurate and Adaptive In situ Fabrication of an Undulated Wall using an On-Board Visual Sensing System

Manuel Lussi, Timothy Sandy, Kathrin Dörfler, Norman Hack, Fabio Gramazio, Matthias Kohler & Jonas Buchli
In this paper we present a system for the in situ fabrication of a full-scale, load-bearing, and doubly-curved steel reinforced concrete wall. Two complementary vision-based sensing systems provide the feedback necessary to build a 12 meter long steel wire mesh as part of a novel digital building process. The sensing systems provide estimates of the robot pose, referenced to the CAD model of the building site, as well as feedback on the accuracy of the...
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