Automated shape repair approaches currently lack access to datasets that describe real-world damaged geometry. We present Fantastic Breaks (and Where to Find Them: https://terascale-all-sensing-research-studio.github.io/FantasticBreaks), a dataset containing scanned, waterproofed, and cleaned 3D meshes for 150 broken objects, paired and geometrically aligned with complete counterparts. Fantastic Breaks contains class and material labels, proxy repair parts that join to broken meshes to generate complete meshes, and manually annotated fracture boundaries. Through a detailed analysis of fracture geometry, we reveal differences between Fantastic Breaks and synthetic fracture datasets generated using geometric and physics-based methods. We show experimental shape repair evaluation with Fantastic Breaks using multiple learning-based approaches pre-trained with synthetic datasets and re-trained with subset of Fantastic Breaks.

Abstract We provide a novel approach to perform fully automated generation of restorations for fractured shapes using learned implicit shape representations in the form of occupancy functions. Our approach lays the groundwork to perform automated object repair via additive manufacturing. Existing approaches for restoration of fractured shapes either require prior knowledge of object structure such as symmetries between the restoration and the fractured object, or predict restorations as voxel outputs that are impractical for repair at current resolutions. By leveraging learned occupancy functions for restoration prediction, our approach overcomes the curse of dimensionality with voxel approaches, while providing plausible restorations. Given a fractured shape, we fit a function to occupancy samples from the shape to infer a latent code. We apply a learned transformation to the fractured shape code to predict a corresponding code for restoration generation. To ensure physical validity and well‐constrained shape estimation, we contribute a loss that models feasible occupancy values for fractured shapes, restorations, and complete shapes obtained by joining fractured and restoration shapes. Our work overcomes deficiencies of shape completion approaches adapted for repair, and enables consumer‐driven object repair and cultural heritage object restoration. We share our code and a synthetic dataset of fractured meshes from 8 ShapeNet classes at: https://github.com/Terascale‐All‐sensing‐Research‐Studio/MendNet .

We introduce DeepJoin, an automated approach to generate high-resolution repairs for fractured shapes using deep neural networks. Existing approaches to perform automated shape repair operate exclusively on symmetric objects, require a complete proxy shape, or predict restoration shapes using low-resolution voxels which are too coarse for physical repair. We generate a high-resolution restoration shape by inferring a corresponding complete shape and a break surface from an input fractured shape. We present a novel implicit shape representation for fractured shape repair that combines the occupancy function, signed distance function, and normal field. We demonstrate repairs using our approach for synthetically fractured objects from ShapeNet, 3D scans from the Google Scanned Objects dataset, objects in the style of ancient Greek pottery from the QP Cultural Heritage dataset, and real fractured objects. We outperform six baseline approaches in terms of chamfer distance and normal consistency. Unlike existing approaches and restorations generated using subtraction, DeepJoin restorations do not exhibit surface artifacts and join closely to the fractured region of the fractured shape. Our code is available at: https://github.com/Terascale-All-sensing-Research-Studio/DeepJoin.

In recent years, robotic technologies, e.g. drones or autonomous cars have been applied to the agricultural sectors to improve the efficiency of typical agricultural operations. Some agricultural tasks that are ideal for robotic automation are yield estimation and robotic harvesting. For these applications, an accurate and reliable image-based detection system is critically important. In this work, we present a low-cost strawberry detection system based on convolutional neural networks. Ablation studies are presented to validate the choice of hyper-parameters, framework, and network structure. Additional modifications to both the training data and network structure that improve precision and execution speed, e.g., input compression, image tiling, color masking, and network compression, are discussed. Finally, we present a final network implementation on a Raspberry Pi 3B that demonstrates a detection speed of 1.63 frames per second and an average precision of 0.842.