AutoURDF: Unsupervised Robot Modeling from Point Cloud Frames Using
Cluster Registration
AutoURDF: Unsupervised Robot Modeling from Point Cloud Frames Using
Cluster Registration
Robot description models are essential for simulation and control, yet their creation often requires significant manual effort. To streamline this modeling process, we introduce AutoURDF, an unsupervised approach for constructing description files for unseen robots from point cloud frames. Our method leverages a cluster-based point cloud registration model that tracks …