Bryan Willimon, Steven Hickson, Ian Walker, and Stan Birchfield IROS 2012 Vila Moura, Algarve An...
-
Upload
reyna-schooling -
Category
Documents
-
view
214 -
download
0
Transcript of Bryan Willimon, Steven Hickson, Ian Walker, and Stan Birchfield IROS 2012 Vila Moura, Algarve An...
Bryan Willimon, Steven Hickson, Ian Walker, and Stan Birchfield
IROS 2012Vila Moura, Algarve
An Energy Minimization Approach to 3D Non-Rigid Deformable Surface Estimation Using
RGBD Data
We propose an algorithm that uses energy minimization to estimate the current configuration of a non-rigid object.
Our approach relies on a 3D nonlinear energy minimization framework to solve for the configuration using a semi-implicit scheme.
Overview
Previous Related Work on Pose Estimation
• Elbrechter et al. (IROS 2011) compare a purely mathematical representation of the paper manifold with a soft-body-physics model and demonstrate the use of their visual tracking method.
• Bersch et al. (IROS 2011) describe a method to compute valid grasp poses on the cloth which accounts for deformability.
The purpose of this approach is to minimize the energy equation of a mesh model that involves 4 terms:
Smoothness term
data Correspondence term
Depth term
Boundary term
Energy Minimization Approach
The purpose of this approach is to minimize the energy equation of a mesh model that involves 4 terms:
Energy Minimization Approach
Experimental Results
• We captured RGBD video sequences of shirts and posters to test our proposed method’s ability to handle different non-rigid objects in a variety of scenarios.
Four experiments were conducted:
1) Illustrating the contribution of the depth term
2) Illustrating the contribution of the boundary term
3) Partial self-occlusion
4) Textureless shirt sequence
ConclusionWe have presented an algorithm to estimate the 3D configuration of a non-rigid object through a video sequence using feature point correspondence, depth, and boundary information.
The next step is to integrate this algorithm into a robotic system that can grasp and handle non-rigid objects in an unstructured environment.