変形物体操作のためのモデル駆動型フィードフォワード予測
Model-Driven Feed-Forward Prediction for Manipulation of Deformable Objects
変形する衣類のシミュレーションデータベースを構築し、カテゴリ・姿勢推定、非剛体レジストレーション、折り畳み軌道最適化に活用するパイプラインを提案した論文。
著者: Yinxiao Li, Yan Wang, Yonghao Yue, Danfei Xu, Michael Case, Shih-Fu Chang, Eitan Grinspun, Peter Allen
分類: cs.CV, cs.GR, cs.RO
原文アブストラクト
Robotic manipulation of deformable objects is a difficult problem especially because of the complexity of the many different ways an object can deform. Searching such a high dimensional state space makes it difficult to recognize, track, and manipulate deformable objects. In this paper, we introduce a predictive, model-driven approach to address this challenge, using a pre-computed, simulated database of deformable object models. Mesh models of common deformable garments are simulated with the garments picked up in multiple different poses under gravity, and stored in a database for fast and efficient retrieval. To validate this approach, we developed a comprehensive pipeline for manipulating clothing as in a typical laundry task. First, the database is used for category and pose estimation for a garment in an arbitrary position. A fully featured 3D model of the garment is constructed in real-time and volumetric features are then used to obtain the most similar model in the database to predict the object category and pose. Second, the database can significantly benefit the manipulation of deformable objects via non-rigid registration, providing accurate correspondences between the reconstructed object model and the database models. Third, the accurate model simulation can also be used to optimize the trajectories for manipulation of deformable objects, such as the folding of garments. Extensive experimental results are shown for the tasks above using a variety of different clothing.
