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PaintNet: 3D Learning of Pose Paths Generators for Robotic Spray Painting

2022-11-13 15:41:50
Gabriele Tiboni, Raffaello Camoriano, Tatiana Tommasi

Abstract

Optimization and planning methods for tasks involving 3D objects often rely on prior knowledge and ad-hoc heuristics. In this work, we target learning-based long-horizon path generation by leveraging recent advances in 3D deep learning. We present PaintNet, the first dataset for learning robotic spray painting of free-form 3D objects. PaintNet includes more than 800 object meshes and the associated painting strokes collected in a real industrial setting. We then introduce a novel 3D deep learning method to tackle this task and operate on unstructured input spaces -- point clouds -- and mix-structured output spaces -- unordered sets of painting strokes. Our extensive experimental analysis demonstrates the capabilities of our method to predict smooth output strokes that cover up to 95% of previously unseen object surfaces, with respect to ground-truth paint coverage. The PaintNet dataset and an implementation of our proposed approach will be released at this https URL.

Abstract (translated)

URL

https://arxiv.org/abs/2211.06930

PDF

https://arxiv.org/pdf/2211.06930.pdf


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3D Action Action_Localization Action_Recognition Activity Adversarial Agent Attention Autonomous Bert Boundary_Detection Caption Chat Classification CNN Compressive_Sensing Contour Contrastive_Learning Deep_Learning Denoising Detection Dialog Diffusion Drone Dynamic_Memory_Network Edge_Detection Embedding Embodied Emotion Enhancement Face Face_Detection Face_Recognition Facial_Landmark Few-Shot Gait_Recognition GAN Gaze_Estimation Gesture Gradient_Descent Handwriting Human_Parsing Image_Caption Image_Classification Image_Compression Image_Enhancement Image_Generation Image_Matting Image_Retrieval Inference Inpainting Intelligent_Chip Knowledge Knowledge_Graph Language_Model Matching Medical Memory_Networks Multi_Modal Multi_Task NAS NMT Object_Detection Object_Tracking OCR Ontology Optical_Character Optical_Flow Optimization Person_Re-identification Point_Cloud Portrait_Generation Pose Pose_Estimation Prediction QA Quantitative Quantitative_Finance Quantization Re-identification Recognition Recommendation Reconstruction Regularization Reinforcement_Learning Relation Relation_Extraction Represenation Represenation_Learning Restoration Review RNN Salient Scene_Classification Scene_Generation Scene_Parsing Scene_Text Segmentation Self-Supervised Semantic_Instance_Segmentation Semantic_Segmentation Semi_Global Semi_Supervised Sence_graph Sentiment Sentiment_Classification Sketch SLAM Sparse Speech Speech_Recognition Style_Transfer Summarization Super_Resolution Surveillance Survey Text_Classification Text_Generation Tracking Transfer_Learning Transformer Unsupervised Video_Caption Video_Classification Video_Indexing Video_Prediction Video_Retrieval Visual_Relation VQA Weakly_Supervised Zero-Shot