Projects per year
Abstract
In this paper, an efficient novel method for tracking the linear deformable objects (LDOs) in real time is proposed. The method is developed based on recursively slicing a pointcloud into smaller pointclouds with sufficiently small variance. The performance of this method is investigated through a series of experiments with various camera resolutions in simulation when a robot end effector tracking an LDO using an RGBD camera, and in real word when the camera tracks a rope during a swing. The performance of the proposed method is compared with another state-of-the-art technique and the outcome is reported here.
| Original language | English |
|---|---|
| Pages (from-to) | 1-19 |
| Journal | Robotica |
| Early online date | 9 Aug 2021 |
| DOIs | |
| Publication status | E-pub ahead of print - 9 Aug 2021 |
Keywords
- cable management
- deformable object
- kinematic control
- real-time tracking
- slicing
Fingerprint
Dive into the research topics of 'Tracking linear deformable objects using slicing method'. Together they form a unique fingerprint.Projects
- 1 Finished
-
ReLIB - Faraday Challenge Fast Track proposal - Circular economy
Elliott, R. (Co-Investigator), Lee, R. (Co-Investigator), Allan, P. (Co-Investigator), Slater, P. (Co-Investigator), Stolkin, R. (Co-Investigator), Walton, A. (Co-Investigator), Overton, T. (Co-Investigator), Reed, D. (Co-Investigator), Anderson, P. (Principal Investigator), Windridge, D. (Co-Investigator) & Gough, R. (Co-Investigator)
Engineering & Physical Science Research Council
1/03/18 → 30/06/21
Project: Research Councils