Abstract
In this paper we consider the problem of estimating 6D pose, material properties and deformation of an object grasped by a robot gripper. To estimate the parameters we minimize an error function incorporating 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 language | English |
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Title of host publication | Pattern Recognition : Joint 34th DAGM and 36th OAGM Symposium, Graz, Austria, August 28-31, 2012. Proceedings |
Publisher | Springer |
Publication date | 2012 |
Pages | 165-174 |
ISBN (Print) | 978-3-642-32716-2 |
ISBN (Electronic) | 978-3-642-32717-9 |
DOIs | |
Publication status | Published - 2012 |
Externally published | Yes |
Event | Joint Pattern Recognition Symposium (34th DAGM, 36th OAGM) - Graz, Austria Duration: 28 Aug 2012 → 31 Aug 2012 http://dagm2012.icg.tugraz.at/ |
Conference
Conference | Joint Pattern Recognition Symposium (34th DAGM, 36th OAGM) |
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Country/Territory | Austria |
City | Graz |
Period | 28/08/2012 → 31/08/2012 |
Internet address |
Series | Lecture Notes in Computer Science |
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Volume | 7476 |
ISSN | 0302-9743 |
Keywords
- Elasticity
- Pattern recognition
- Deformation