Localization and Tracking of User-Defined Points on Deformable Objects for Robotic Manipulation
Our paper “Localization and Tracking of User-Defined Points on Deformable Objects for Robotic Manipulation” has been accepted at the IEEE International Conference on Robots and Automation (ICRA) Workshop on Representing and Manipulating Deformable Objects.
The full text of the paper is accessible on ArXiv.
Watch the video of Sven’s talk at the workshop below, or watch a recording of the complete workshop here.
This paper introduces an efficient procedure to localize user-defined points on the surface of deformable objects and track their positions in 3D space over time. To cope with a deformable object’s infinite number of DOF, we propose a discretized deformation field, which is estimated during runtime using a multi-step non-linear solver pipeline. The resulting high-dimensional energy minimization problem describes the deviation between an offline-defined reference model and a pre-processed camera image. An additional regularization term allows for assumptions about the object’s hidden areas and increases the solver’s numerical stability. Our approach is capable of solving the localization problem online in a data-parallel manner, making it ideally suitable for the perception of non-rigid objects in industrial manufacturing processes