Simultaneous Estimation of Material Properties and Pose for Deformable Objects from Depth and Color Images

Andreas Rune Fugl, Andreas Jordt, Henrik Gordon Petersen, Morten Willatzen, Reinhard Koch

Publikation: Konferencebidrag uden forlag/tidsskriftPaperForskningpeer review

Abstrakt

In this paper we consider the problem of estimating 6D pose
and material properties of a deformable object grasped by a robot grip-
per. To estimate the parameters we minimize an error function incorpo-
rating visual and physical correctness. Through simulated and real-world
experiments we demonstrate that we are able to find realistic 6D poses
and elasticity parameters like Young’s modulus. This makes it possible
to perform subsequent manipulation tasks, where accurate modelling of
the elastic behaviour is important.
OriginalsprogEngelsk
Publikationsdato2012
Antal sider10
StatusUdgivet - 2012

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