Greedy Stone Tower Creations with a Robotic Arm

Martin Wermelinger, Fadri Furrer, Hironori Yoshida, Fabio Gramazio, Matthias Kohler, Roland Siegwart & Marco Hutter
Predominately, robotic construction is applied as prefabrication in structured indoor environments with standard building materials. Our work, on the other hand, focuses on utilizing irregular materials found on-site, such as rubble and rocks, for autonomous construction. We present a pipeline to detect arbitrarily placed objects in a scene and form a structure out of the detected objects. The next best stacking pose is selected using a searching method employing gradient descent with ran dom initial...
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