Saliency Features for 3D CAD-Data in the Context of Sampling-Based Motion Planning
Robert Hegewald Nicola Wolpert Elmar Schömer Robert Hegewald Nicola Wolpert Elmar Schömer
In this paper, we consider disassembly scenarios for real-world 3D CAD-data, where each component is defined by a triangle mesh. For a fast construction of collision-free disassembly paths, common approaches use sampling-based rigid body motion planning which is well studied in the literature. One fact that has so far received little attention is that in industrial disassembly scenarios components...