RobotecAI/rai

Openset 3D detection pipeline gripping point strategy

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#681 opened on Sep 2, 2025

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 (1 comment) (0 reactions) (1 assignee)Python (73 forks)auto 404
enhancementgood first issue

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Description

Is your feature request related to a problem? Please describe. Currently, the 3D detection system calculates the centroid of detected objects, assuming the gripper doesn't need to rotate and that the fingers are wide enough for a grip. However, for certain use cases, such as with vacuum grippers, we need to focus solely on the top plane of the object (e.g., a box). This functionality is currently unavailable.

Describe the solution you'd like Robust (various camera frames) ransac based filtering

Describe alternatives you've considered Other algos

Additional context Add any other context or screenshots about the feature request here.

Contributor guide

Research direction
Study existing 3D detection pipeline, implement RANSAC based plane detection on top plane, integrate with gripper strategy for vacuum grippers.
Tech stack
python
Domain
computer vision
Issue type
Feature
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
3
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
3-5 days
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
Active
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Mostly clear
Prerequisites
Python3D geometryRANSAC
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
50