Abstract: Certain aspects and features of this disclosure relate to modeling shapes using differentiable, signed distance functions. 3D modeling software can edit a 3D model represented using the differentiable, signed distance functions while displaying the model in a manner that is computing resource efficient and fast. Further, such 3D modeling software can automatically create such an editable 3D model from a reference representation that can be obtained in various ways and stored in a variety of formats. For example, a real-world object can be scanned using LiDAR and a reference representation can be produced from the LiDAR data. Candidate procedural models from a library of curated procedural models are optimized to obtain the best procedural model for editing. A selected procedural model provides an editable, reconstructed shape based on the reference representation of the object.

Abstract: A method for monitoring the environment of a robot including at least one iteration of a detection phase including the following steps:—acquisition, at a measurement instant, of an image of the depth of the environment, referred to as a measurement image, by the at least one 3D camera,—readjustment of the reference and measurement images, and—detection of a change relating to an object in the environment of the robot by comparing the reference and measurement images. A device that implements such a method and a robot equipped with such a device is also provided.