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Bryan Willimon, Steven Hickson, Ian Walker, and Stan Birchfield
IROS 2012Vila Moura, Algarve
An Energy Minimization Approach to 3D Non-Rigid Deformable Surface Estimation Using
RGBD Data
We propose an algorithm that uses energy minimization to estimate the current configuration of a non-rigid object.
Our approach relies on a 3D nonlinear energy minimization framework to solve for the configuration using a semi-implicit scheme.
Overview
Previous Related Work on Pose Estimation
• Elbrechter et al. (IROS 2011) compare a purely mathematical representation of the paper manifold with a soft-body-physics model and demonstrate the use of their visual tracking method.
• Bersch et al. (IROS 2011) describe a method to compute valid grasp poses on the cloth which accounts for deformability.
The purpose of this approach is to minimize the energy equation of a mesh model that involves 4 terms:
Smoothness term
data Correspondence term
Depth term
Boundary term
Energy Minimization Approach
The purpose of this approach is to minimize the energy equation of a mesh model that involves 4 terms:
Energy Minimization Approach
Experimental Results
• We captured RGBD video sequences of shirts and posters to test our proposed method’s ability to handle different non-rigid objects in a variety of scenarios.
Four experiments were conducted:
1) Illustrating the contribution of the depth term
2) Illustrating the contribution of the boundary term
3) Partial self-occlusion
4) Textureless shirt sequence
ConclusionWe have presented an algorithm to estimate the 3D configuration of a non-rigid object through a video sequence using feature point correspondence, depth, and boundary information.
The next step is to integrate this algorithm into a robotic system that can grasp and handle non-rigid objects in an unstructured environment.