変形物体上のユーザー定義点の位置推定と追跡によるロボットマニピュレーション
Localization and Tracking of User-Defined Points on Deformable Objects for Robotic Manipulation
変形する物体の表面に設定した任意の点を3D空間でリアルタイムに位置推定・追跡する手法を提案し、離散化変形場と非線形最適化で実現した。
著者: Sven Dittus, Benjamin Alt, Andreas Hermann, Darko Katic, Rainer Jäkel, Jürgen Fleischer
分類: cs.CV, cs.RO
原文アブストラクト
This paper introduces an efficient procedure to localize user-defined points on the surface of deformable objects and track their positions in 3D space over time. To cope with a deformable object's infinite number of DOF, we propose a discretized deformation field, which is estimated during runtime using a multi-step non-linear solver pipeline. The resulting high-dimensional energy minimization problem describes the deviation between an offline-defined reference model and a pre-processed camera image. An additional regularization term allows for assumptions about the object's hidden areas and increases the solver's numerical stability. Our approach is capable of solving the localization problem online in a data-parallel manner, making it ideally suitable for the perception of non-rigid objects in industrial manufacturing processes.
