Tracking linear deformable objects using slicing method

Research output: Contribution to journalArticlepeer-review

24 Downloads (Pure)

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 languageEnglish
Pages (from-to)1-19
JournalRobotica
Early online date9 Aug 2021
DOIs
Publication statusE-pub ahead of print - 9 Aug 2021

Keywords

  • slicing
  • kinematic control
  • deformable object
  • cable management
  • real-time tracking

Fingerprint

Dive into the research topics of 'Tracking linear deformable objects using slicing method'. Together they form a unique fingerprint.

Cite this