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We have studied the problem of retrieval of arbitrary object instances from a large point cloud data set. The context is autonomous robots operating for long periods of time, weeks up to months and regularly saving point cloud data. The ever growing collection of data is stored in a way that allows ranking candidate examples of any query object, given in the form of a single view point cloud, without...
Alignment of module connectors is a crucial component of self-reconfiguration in modular robotics. Accomplishing this process using passive mechanical geometry saves resources such as space and power for the modular robot. We present concepts for evaluation of these geometries as well as a new 3D geometry, the 3D X-Face. For comparing different connectors independent of the rest of the robot, figures...
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