Robotic acquisition of deformable models
Identifieur interne : 007338 ( Main/Exploration ); précédent : 007337; suivant : 007339Robotic acquisition of deformable models
Auteurs : Jochen Lang [Canada] ; Dinesh K. Pai [Canada] ; Robert J. Woodham [Canada]Source :
- Proceedings - IEEE International Conference on Robotics and Automation [ 1050-4729 ] ; 2002.
Descripteurs français
- Pascal (Inist)
- Wicri :
- topic : Robotique.
English descriptors
- KwdEn :
Abstract
We describe techniques for automatically acquiring observations of a deforming object and for estimating a model of the deformation from these observations. A robotic system was developed for measuring deformation, and has been previously reported [1, 2]. The present paper describes new techniques for the estimation of deformable models based on discrete Green's functions, from measurements acquired using stereo vision and a robot arm's position and force sensors. This kind of robotic measurement presents new challenges for measurement and estimation, that we address here. Our techniques for robotic acquisition of deformable object models have potential applications in robotics, haptic interfaces, simulation, computer graphics and virtual reality.
Affiliations:
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Le document en format XML
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<term>Deformation measurement</term>
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<term>Green function</term>
<term>Modeling</term>
<term>Position measurement</term>
<term>Position sensor</term>
<term>Robot vision</term>
<term>Robotics</term>
<term>Stereo image processing</term>
<term>Stereopsis</term>
<term>System identification</term>
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<term>User interface</term>
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<keywords scheme="Pascal" xml:lang="fr"><term>Robotique</term>
<term>Identification système</term>
<term>Mesure déformation</term>
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<term>Vision stéréoscopique</term>
<term>Vision robot</term>
<term>Bras</term>
<term>Capteur position</term>
<term>Mesure position</term>
<term>Capteur force</term>
<term>Mesure force</term>
<term>Interface utilisateur</term>
<term>Modélisation</term>
<term>Fonction discrète</term>
<term>Fonction Green</term>
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<front><div type="abstract" xml:lang="en">We describe techniques for automatically acquiring observations of a deforming object and for estimating a model of the deformation from these observations. A robotic system was developed for measuring deformation, and has been previously reported [1, 2]. The present paper describes new techniques for the estimation of deformable models based on discrete Green's functions, from measurements acquired using stereo vision and a robot arm's position and force sensors. This kind of robotic measurement presents new challenges for measurement and estimation, that we address here. Our techniques for robotic acquisition of deformable object models have potential applications in robotics, haptic interfaces, simulation, computer graphics and virtual reality.</div>
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