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

Research output: Contribution to conference without publisher/journalPaperResearchpeer-review

Abstract

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.
Original languageEnglish
Publication date2012
Number of pages10
Publication statusPublished - 2012

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Elasticity
Materials properties
Elastic moduli
Robots
Color

Cite this

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title = "Simultaneous Estimation of Material Properties and Pose for Deformable Objects from Depth and Color Images",
abstract = "In this paper we consider the problem of estimating 6D poseand 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-worldexperiments we demonstrate that we are able to find realistic 6D posesand elasticity parameters like Young’s modulus. This makes it possibleto perform subsequent manipulation tasks, where accurate modelling ofthe elastic behaviour is important.",
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Simultaneous Estimation of Material Properties and Pose for Deformable Objects from Depth and Color Images. / Fugl, Andreas Rune; Jordt, Andreas; Petersen, Henrik Gordon; Willatzen, Morten; Koch, Reinhard.

2012.

Research output: Contribution to conference without publisher/journalPaperResearchpeer-review

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AU - Koch, Reinhard

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AB - In this paper we consider the problem of estimating 6D poseand 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-worldexperiments we demonstrate that we are able to find realistic 6D posesand elasticity parameters like Young’s modulus. This makes it possibleto perform subsequent manipulation tasks, where accurate modelling ofthe elastic behaviour is important.

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