DARS: A Dual-Arm Robotic System for Autonomous 3D Scanning of Artefacts

Javed Ahmad1     Federico Dassiè1    Selene Frascella1    Ferdinando Cannella2    Gabriele Marchello2    Arianna Traviglia1   

Paper is under review , full detailed visualization and open-source code will be available later

           
Paper ArXiv Code

Simulation Setup



Simulation Demo



Real-Robot Demo



Abstract

Abstract here



DARS Pipeline

Image description

We present Dual-Arm Robotic System, which consists of 3 main components. Left: Defining the desired 3D scanning paths on virtual sphere Region-Based Motion Planning: Divide the virtual sphere into segments and regions to acheive feasible motion planning for manipulators Low Level Control: Varified trajectories are executed on real robotic setup which perform 3D scanning of cultural heritage artefacts


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DARS solves motion planning tasks considering each curve of the given region maintaining required distance

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DARS provide high quality 3D scanning results

Artefact 1

Artefact 2

Artefact 3

Artefact 4

Artefact 5

Artefact 6

Ground Truth Data Generation

Description

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Additional Results

BibTeX