arXiv subjects

Chiara Castellano

Publications and source records attributed to Chiara Castellano.

2 recordsLinked to original sources

arXiv2026

Low-Resolution Perception for Robotic Packing

This work tackles the problem of scalable perception for robotic packing with low-cost, low-resolution depth sensing. We propose a framework where reconstruction cues drive next-view selection and grasp evidence updates a per-object stability estimate, jointly deciding what to acquire next and when to grasp. During the reconstruction, a low-resolution Next Best View (NBV) strategy explicitly avoids redundant views while preserving task-relevant geometry. We validate the approach in two steps: (i) an ablation study of the utility function under very low resolution, and (ii) a full end-to-end evaluation across policies, showing how low-resolution perception is a practical, scalable option for robotic packing.

cs.RO↗

arXiv2025

Low Resolution Next Best View for Robot Packing

Automating the packing of objects with robots is a key challenge in industrial automation, where efficient object perception plays a fundamental role. This paper focuses on scenarios where precise 3D reconstruction is not required, prioritizing cost-effective and scalable solutions. The proposed Low-Resolution Next Best View (LR-NBV) algorithm leverages a utility function that balances pose redundancy and acquisition density, ensuring efficient object reconstruction. Experimental validation demonstrates that LR-NBV consistently outperforms standard NBV approaches, achieving comparable accuracy with significantly fewer poses. This method proves highly suitable for applications requiring efficiency, scalability, and adaptability without relying on high-precision sensing.

cs.RO↗