Using sensors including cameras, it autonomously created a 3D map of the surrounding site as well as finding suitable building blocks and rocks for the wall’s construction.
Scanning the stones allowed the robot to estimate the weight and centre-of-gravity of each, and an algorithm then matched these known stones to remaining locations on the growing wall.
“Our geometric planning algorithm uses a combination of constrained registration and signed-distance-field classification to determine how these should be positioned toward the formation of stable and explicitly shaped structures,” the researchers wrote in a paper describing the project (see below).
