dryrocks's comments

For those looking for a more technical overview of the process, the overview video of the research paper is available here: https://www.youtube.com/watch?v=TxpE5yryCTU

The excavator creates a mesh of each stone by scanning it "in hand", and updates the settled positions of them as it builds. The left side of the image is the 3D digital twin model that is maintained by the system, captured from the same perspective to show how it matches the real wall.