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1 results

  • Tracking linear deformable objects using slicing method

  • Alireza Rastegarpanah, Rhys Howard, Rustam Stolkin
  • Journal:
    Robotica / Volume 40 / Issue 4 / April 2022
    Published online by Cambridge University Press:
    09 August 2021, pp. 1188-1206
    • Article
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  • In this paper, an efficient novel method for tracking the linear deformable objects (LDOs) in real time is proposed. The method is developed based on recursively slicing a pointcloud into smaller pointclouds with sufficiently small variance. The performance of this method is investigated through a series of experiments with various camera resolutions in simulation when a robot end effector tracking an LDO using an RGBD camera, and in real word when the camera tracks a rope during a swing. The performance of the proposed method is compared with another state-of-the-art technique and the outcome is reported here.