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Map building is a fundamental task in many robotic applications. In this paper, we propose a novel approach for 3D mapping of indoor environments which allows a robot avatar to collaborate with a human seamlessly through a virtual reality (VR) device. The 3D map is created using the 3D data from an RGB-D camera mounted on the robot and simultaneously transmitted to a remote server, and then rendered...
Acquiring robot assembly skills through human demonstration is a challenging problem. To achieve this goal, not only the actions and objects have to be shown to the robot, but also the effect of the action needs to be estimated. Recognizing the subtle assembly actions is a non-trivial task, and it is difficult to estimate the effect of the action on the assembly parts due to the small part sizes....
Surface manufacturing is a process of adding material to or removing material from the surfaces of a part, where industrial robots are usually used. Robot programming for these applications is still time consuming and costly. Typical teaching methods are not cost effective and efficient. There are many offline programming methods developed to reduce the robot programming effort. However, these methods...
Three dimensional digitization of an object is very important to many robotic applications. This paper introduces an efficient planning method for robotic 3D digitization. First, the scanning image in one viewpoint is separated into small cubes using the Octree method. Second, a least-square method is applied for normal vector calculation in each cube. Third, the distribution of surface normal vectors...
This paper presents a low-cost, simple automated mobile platform for 3D environmental digitization. Compared with other customized 3D digitization platforms, all parts in our platform are commercial off-the-shelf. In order to build a 3D model of a salient target, we present a new viewpoint planning method for fast 3D digitization. Within a predefined accuracy, our method can determine the minimum...
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