This paper presents a method to track in real-time a 3D textureless object which undergoes large deformations such as elastic ones, and rigid motions, using the point cloud data provided by an RGB-D sensor. This solution is expected to be useful for enhanced manipulation of humanoid robotic systems. Our framework relies on a prior visual segmentation of the object in the image. The segmented point cloud is registered first in a rigid manner and then by non-rigidly fitting the mesh, based on the Finite Element Method to model elasticity, and on geometrical point-to-point correspondences to compute external forces exerted on the mesh. The real-time performance of the system is demonstrated on synthetic and real data involving challenging deformations and motions.

Real-time tracking of 3D elastic objects with an RGB-D sensor / Petit, Antoine; Lippiello, Vincenzo; Siciliano, Bruno. - 2015:(2015), pp. 3914-3921. (Intervento presentato al convegno IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 tenutosi a Congress Center Hamburg (CCH), Messeplatz 1, deu nel 2015) [10.1109/IROS.2015.7353928].

Real-time tracking of 3D elastic objects with an RGB-D sensor

LIPPIELLO, VINCENZO;SICILIANO, BRUNO
2015

Abstract

This paper presents a method to track in real-time a 3D textureless object which undergoes large deformations such as elastic ones, and rigid motions, using the point cloud data provided by an RGB-D sensor. This solution is expected to be useful for enhanced manipulation of humanoid robotic systems. Our framework relies on a prior visual segmentation of the object in the image. The segmented point cloud is registered first in a rigid manner and then by non-rigidly fitting the mesh, based on the Finite Element Method to model elasticity, and on geometrical point-to-point correspondences to compute external forces exerted on the mesh. The real-time performance of the system is demonstrated on synthetic and real data involving challenging deformations and motions.
2015
9781479999941
9781479999941
Real-time tracking of 3D elastic objects with an RGB-D sensor / Petit, Antoine; Lippiello, Vincenzo; Siciliano, Bruno. - 2015:(2015), pp. 3914-3921. (Intervento presentato al convegno IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 tenutosi a Congress Center Hamburg (CCH), Messeplatz 1, deu nel 2015) [10.1109/IROS.2015.7353928].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11588/632955
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