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Yinxiao Li Yinxiao Li Real-time Pose Estimation of Deformable Objects Using a Volumetric Approach Yinxiao Li, Yan Wang, Michael Case, Shih-Fu Chang, Peter K. Allen

Real-time Pose Estimation of Deformable Objects …yli/IROS2014/IROS2014_Slides.pdfYinxiao Li Real-time Pose Estimation of Deformable Objects Using a Volumetric Approach Yinxiao Li,

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Page 1: Real-time Pose Estimation of Deformable Objects …yli/IROS2014/IROS2014_Slides.pdfYinxiao Li Real-time Pose Estimation of Deformable Objects Using a Volumetric Approach Yinxiao Li,

Yinxiao Li Yinxiao Li

Real-time Pose Estimation of Deformable Objects Using a Volumetric Approach

Yinxiao Li, Yan Wang, Michael Case, Shih-Fu Chang, Peter K. Allen

Page 2: Real-time Pose Estimation of Deformable Objects …yli/IROS2014/IROS2014_Slides.pdfYinxiao Li Real-time Pose Estimation of Deformable Objects Using a Volumetric Approach Yinxiao Li,

Yinxiao Li

Deformable Object Grasping Pipeline

Page 3: Real-time Pose Estimation of Deformable Objects …yli/IROS2014/IROS2014_Slides.pdfYinxiao Li Real-time Pose Estimation of Deformable Objects Using a Volumetric Approach Yinxiao Li,

Yinxiao Li

Deformable Object Grasping Pipeline

Page 4: Real-time Pose Estimation of Deformable Objects …yli/IROS2014/IROS2014_Slides.pdfYinxiao Li Real-time Pose Estimation of Deformable Objects Using a Volumetric Approach Yinxiao Li,

Yinxiao Li

Deformable Object Grasping Pipeline

Page 5: Real-time Pose Estimation of Deformable Objects …yli/IROS2014/IROS2014_Slides.pdfYinxiao Li Real-time Pose Estimation of Deformable Objects Using a Volumetric Approach Yinxiao Li,

Yinxiao Li

Deformable Object Grasping Pipeline

Page 6: Real-time Pose Estimation of Deformable Objects …yli/IROS2014/IROS2014_Slides.pdfYinxiao Li Real-time Pose Estimation of Deformable Objects Using a Volumetric Approach Yinxiao Li,

Yinxiao Li

Experimental Results

• Average Distance Error: 13.6 cm (28 tests)

Page 7: Real-time Pose Estimation of Deformable Objects …yli/IROS2014/IROS2014_Slides.pdfYinxiao Li Real-time Pose Estimation of Deformable Objects Using a Volumetric Approach Yinxiao Li,

Yinxiao Li

Implement on a robot -- Video

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