Real-time tracking of 3D elastic objects with an RGB-D sensor
Antoine Petit, Vincenzo Lippiello, Bruno Siciliano
Abstract
This paper presents a method to track in real-time a 3D textureless object which undergoes large deformations such as elastic ones, and rigid motions, using the point cloud data provided by an RGB-D sensor. This solution is expected to be useful for enhanced manipulation of humanoid robotic systems. Our framework relies on a prior visual segmentation of the object in the image. The segmented point cloud is registered first in a rigid manner and then by non-rigidly fitting the mesh, based on the Finite Element Method to model elasticity, and on geometrical point-to-point correspondences to compute external forces exerted on the mesh. The real-time performance of the system is demonstrated on synthetic and real data involving challenging deformations and motions.
BibTeX
@inproceedings{iros2015_realtimetracking,
title = {Real-time tracking of 3D elastic objects with an RGB-D sensor},
author = {Antoine Petit and Vincenzo Lippiello and Bruno Siciliano},
booktitle = {IROS 2015},
year = {2015}
}