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Real-time tracking of 3D elastic objects with an RGB-D sensor
- Source :
- 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IROS 2015-IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015-IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, Sep 2015, Hamburg, Germany. pp.3914-3921, ⟨10.1109/IROS.2015.7353928⟩, IROS
- Publication Year :
- 2015
- Publisher :
- HAL CCSD, 2015.
-
Abstract
- International audience; This paper presents a method to track in real-time a 3D textureless object which undergoes large deformations such as elastic ones, and rigid motions, using the point cloud data provided by an RGB-D sensor. This solution is expected to be useful for enhanced manipulation of humanoid robotic systems. Our framework relies on a prior visual segmentation of the object in the image. The segmented point cloud is registered first in a rigid manner and then by non-rigidly fitting the mesh, based on the Finite Element Method to model elasticity, and on geometrical point-to-point correspondences to compute external forces exerted on the mesh. The real-time performance of the system is demonstrated on synthetic and real data involving challenging deformations and motions.
- Subjects :
- 0209 industrial biotechnology
Computer science
Robot
Finite element analysi
Point cloud
ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION
02 engineering and technology
Image (mathematics)
020901 industrial engineering & automation
Real-time system
0202 electrical engineering, electronic engineering, information engineering
[INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO]
Computer vision
ComputingMethodologies_COMPUTERGRAPHICS
Image segmentation
business.industry
Computer Science Application
Deformable model
[INFO.INFO-CV]Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV]
Computational modeling
Object (computer science)
[INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation
Finite element method
Three-dimensional display
Control and Systems Engineering
RGB color model
020201 artificial intelligence & image processing
Artificial intelligence
Computer Vision and Pattern Recognition
business
Software
Subjects
Details
- Language :
- English
- Database :
- OpenAIRE
- Journal :
- 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IROS 2015-IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015-IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, Sep 2015, Hamburg, Germany. pp.3914-3921, ⟨10.1109/IROS.2015.7353928⟩, IROS
- Accession number :
- edsair.doi.dedup.....4974a015b0ac920f483369fea1a2af08