Real-time tracking of 3D elastic objects with an RGB-D sensor

Abstract : 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.
Type de document :
Communication dans un congrès
IROS 2015 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2015, Hamburg, Germany. IEEE, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.3914-3921, 2015, 〈https://iros2015.informatik.uni-hamburg.de/〉. 〈10.1109/IROS.2015.7353928〉
Liste complète des métadonnées

Littérature citée [23 références]  Voir  Masquer  Télécharger

https://hal.archives-ouvertes.fr/hal-01617309
Contributeur : Antoine Petit <>
Soumis le : lundi 16 octobre 2017 - 14:41:11
Dernière modification le : vendredi 13 juillet 2018 - 21:14:01
Document(s) archivé(s) le : mercredi 17 janvier 2018 - 14:18:35

Fichier

deformable_object_tracking_vf....
Fichiers produits par l'(les) auteur(s)

Identifiants

Collections

Citation

Antoine Petit, Vincenzo Lippiello, Bruno Siciliano. Real-time tracking of 3D elastic objects with an RGB-D sensor. IROS 2015 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2015, Hamburg, Germany. IEEE, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.3914-3921, 2015, 〈https://iros2015.informatik.uni-hamburg.de/〉. 〈10.1109/IROS.2015.7353928〉. 〈hal-01617309〉

Partager

Métriques

Consultations de la notice

240

Téléchargements de fichiers

252