Scan Me!
Institution: IAAC
Faculty: Julia Marsal
Team: Ainhoa Arnaiz, Maria Luiza Gomes Torres, Andres Said Rodriguez, Oswaldo Veliz
The project integrates advanced scanning and robotic systems to optimize raw wood utilization in construction. A ROS-based framework connects a UR10e robotic arm and Azure Kinect for depth sensing with Rhino/Grasshopper for computational modeling. The workflow begins with scanning wooden sticks at angles of 45°, 60°, and 90° to align with grain direction, enhancing depth capture through optimized settings like WFOV and reduced voxel lengths. The resulting .PLY point cloud undergoes post-processing in Open3D to remove noise and isolate the object. Data is transmitted via Rosbridge to Rhino/Grasshopper, where plugins like COMPAS FAB support modeling, fabrication planning, and database creation for future use.
The iterative process combines robotic scanning, data cleaning, and parametric modeling to improve precision and adaptability. Real-time integration of ROS and Grasshopper addresses gaps in data interoperability and responsiveness. The refined database accommodates multiple formats such as OBJ and STL, supporting sustainable and innovative design practices in construction.
Further Explorations could account for different depth cameras as well as integrating live gaussian splatting as well as real time toolpath modifications.