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This work explores sketching as a method for conveying human intentions in Human Robot Collaboration (HRC). We introduce SketchGuide, a vision-based system that enables users to sketch directly onto 3D surfaces using only their hands, without modifications to workers or workpieces. Using off-the-shelf components, our system captures 3D sketch geometry at interactive frame rates and operates independently of CAD information, offering flexibility across environments. We evaluated its effectiveness in programming robotic polishing tasks, demonstrating that sketching enhances human-robot collaboration.(Additional resources can be found at https://github.com/cheind/SketchGuide ).

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SketchGuide: A Baseline Vision-Based Model for Rapid Robot Programming via Freehand Sketching on Any Surface

  • 会议论文

  • 发表日期：

    2025年

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  • Christoph Heindl,
  • Gerhard Ebenhofer,
  • Sezgin Kutlu,
  • Fabian Widmoser,
  • Andreas Pichler

摘要

This work explores sketching as a method for conveying human intentions in Human Robot Collaboration (HRC). We introduce SketchGuide, a vision-based system that enables users to sketch directly onto 3D surfaces using only their hands, without modifications to workers or workpieces. Using off-the-shelf components, our system captures 3D sketch geometry at interactive frame rates and operates independently of CAD information, offering flexibility across environments. We evaluated its effectiveness in programming robotic polishing tasks, demonstrating that sketching enhances human-robot collaboration.(Additional resources can be found at https://github.com/cheind/SketchGuide ).