标题： OpenTie：开放词汇顺序绑扎系统 显示英文标题

标题： OpenTie: Open-vocabulary Sequential Rebar Tying System

摘要： 在建筑工地上，由于能够应对复杂的挑战，尤其是在涉及钢筋的场景中，机器人施工成为一种引人注目的方法。 现有的大多数产品和研究主要集中在平面钢筋布置上，需要模型训练。 为了填补这一空白，我们提出了OpenTie，这是一种无需3D训练的钢筋绑扎框架，利用了RGB到点云生成和开放词汇检测。 我们通过配备双目相机的机械臂实现了OpenTie，并通过在我们提出的基于图像到点云生成框架的后处理过程过滤后的图像上应用基于提示的对象检测方法，保证了高精度。 该系统适用于水平和垂直钢筋绑扎任务，真实世界钢筋布置的实验验证了该系统在实际中的有效性。 显示英文摘要

摘要： Robotic practices on the construction site emerge as an attention-attracting manner owing to their capability of tackle complex challenges, especially in the rebar-involved scenarios. Most of existing products and research are mainly focused on flat rebar setting with model training demands. To fulfill this gap, we propose OpenTie, a 3D training-free rebar tying framework utilizing a RGB-to-point-cloud generation and an open-vocabulary detection. We implements the OpenTie via a robotic arm with a binocular camera and guarantees a high accuracy by applying the prompt-based object detection method on the image filtered by our propose post-processing procedure based a image to point cloud generation framework. The system is flexible for horizontal and vertical rebar tying tasks and the experiments on the real-world rebar setting verifies that the effectiveness of the system in practice.