We present the Robotic Modeling Assistant (RoMA), an interactive fabrication system providing a fast, precise, hands-on and in-situ modeling experience. As a designer creates a new model using RoMA AR CAD editor, features are constructed concurrently by a 3D printing robotic arm sharing the same design volume. The partially printed physical model then serves as a tangible reference for the designer as she adds new elements to her design. RoMA's proxemics-inspired handshake mechanism between the designer and the 3D printing robotic arm allows the designer to quickly interrupt printing to access a printed area or to indicate that the robot can take full control of the model to finish printing. RoMA lets users integrate real-world constraints into a design rapidly, allowing them to create well-proportioned tangible artifacts or to extend existing objects. We conclude by presenting the strengths and limitations of our current design.
The time complexity of making observations and loop closures in a graph-based visual SLAM system is a function of the number of views stored [1], [2]. Clever algorithms, such as approximate nearest neighbor search, can make this function sub-linear. Despite this, over time the number of views can still grow to a point at which the speed and/or accuracy of the system becomes unacceptable, especially in computation-and memory-constrained SLAM systems. However, not all views are created equal. Some views are rarely observed, because they have been created in an unusual lighting condition, or from low quality images, or in a location whose appearance has changed. These views can be removed to improve the overall performance of a SLAM system. In this paper, we propose a method for pruning views in a visual SLAM system to maintain its speed and accuracy for long term use.
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