Abstract: One embodiment of a method for controlling a robot includes generating a representation of spatial occupancy within an environment based on a plurality of red, green, blue (RGB) images of the environment, determining one or more actions for the robot based on the representation of spatial occupancy and a goal, and causing the robot to perform at least a portion of a movement based on the one or more actions.

Abstract: A method, system, apparatus, article of manufacture, and computer readable storage medium provide the ability to reconstruct a pipe from point cloud data. Point cloud data is obtained. Primitive geometric shapes are detected in the point cloud data. A pipeline is determined by determining predecessor and successor primitive geometric shapes for each of the shapes. Diameters, coplanarity, and angles between the shapes are corrected. The shapes are connected and output.

Abstract: A method, system, apparatus, article of manufacture, and computer readable storage medium provide the ability to reconstruct a pipe from point cloud data. Point cloud data is obtained. Primitive geometric shapes are detected in the point cloud data. A pipeline is determined by determining predecessor and successor primitive geometric shapes for each of the shapes. Diameters, coplanarity, and angles between the shapes are corrected. The shapes are connected and output.

Abstract: A method, apparatus, system, article of manufacture, and data structure provide the ability to extract a primitive quadric surface from point cloud data. Point cloud data is obtained in 3D space. The point cloud data is segmented to create a disjoined surface and a smooth surface segment based on spatial connectivity and surface smoothness. One or more shapes are extracted from the point cloud data using geometric fitting. The geometric fitting searches for one or more quadric surface parameters of a given type of model that provides a best agreement between selected points from the point cloud data and a resultant model.