Publication

TSLAM: a tag-based object-centered monocular navigation system for augmented manual woodworking.

Hong-Bin Yang
2024
Journal paper
Abstract

TimberSLAM (TSLAM) is an object-centered, tag-based visual self-localization and mapping (SLAM) system for monocular RGB cameras. It was specifically developed to support a robust and augmented reality pipeline for close-range, noisy, and cluttered fabrication sequences that involve woodworking operations, such as cutting, drilling, sawing, and screwing with multiple tools and end-effectors. By leveraging and combining multiple open-source projects, we obtain a functional pipeline that can map, three-dimensionally reconstruct, and finally provide a robust camera pose stream during fabrication time to overlay an execution model with its digital-twin model, even under close-range views, dynamic environments, and heavy scene obstructions. To benchmark the proposed navigation system under real fabrication scenarios, we produce a data set of 1344 closeups of different woodworking operations with multiple tools, tool heads, and varying parameters (e.g., tag layout and density). The evaluation campaign indicates that TSLAM is satisfyingly capable of detecting the camera’s millimeter position and subangular rotation during the majority of fabrication sequences. The reconstruction algorithm’s accuracy is also gauged and yields results that demonstrate its capacity to acquire shapes of timber beams with up to two preexisting joints. We have made the entire source code, evaluation pipeline, and data set open to the public for reproducibility and the benefit of the community.

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Related concepts (33)
Tool
A tool is an object that can extend an individual's ability to modify features of the surrounding environment or help them accomplish a particular task. Although many animals use simple tools, only human beings, whose use of stone tools dates back hundreds of millennia, have been observed using tools to make other tools. Early human tools, made of such materials as stone, bone, and wood, were used for the preparation of food, hunting, the manufacture of weapons, and the working of materials to produce clothing and useful artifacts and crafts such as pottery, along with the construction of housing, businesses, infrastructure, and transportation.
Semiconductor device fabrication
Semiconductor device fabrication is the process used to manufacture semiconductor devices, typically integrated circuits (ICs) such as computer processors, microcontrollers, and memory chips (such as NAND flash and DRAM) that are present in everyday electrical and electronic devices. It is a multiple-step photolithographic and physio-chemical process (with steps such as thermal oxidation, thin-film deposition, ion-implantation, etching) during which electronic circuits are gradually created on a wafer, typically made of pure single-crystal semiconducting material.
Tool use by non-humans
Tool use by non-humans is a phenomenon in which a non-human animal uses any kind of tool in order to achieve a goal such as acquiring food and water, grooming, combat, defence, communication, recreation or construction. Originally thought to be a skill possessed only by humans, some tool use requires a sophisticated level of cognition. There is considerable discussion about the definition of what constitutes a tool and therefore which behaviours can be considered true examples of tool use.
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