Shape Estimation for Elongated Deformable Object using B-spline Chained Multiple Random Matrices Model

Autor: Ashwin P. Dani, Gang Yao, Ryan Saltus
Rok vydání: 2021
Předmět:
FOS: Computer and information sciences
0209 industrial biotechnology
Computer science
Computer Vision and Pattern Recognition (cs.CV)
Computer Science - Computer Vision and Pattern Recognition
Degrees of freedom (statistics)
Initialization
Systems and Control (eess.SY)
02 engineering and technology
Electrical Engineering and Systems Science - Systems and Control
Article
Computer Science - Robotics
020901 industrial engineering & automation
Intersection
Artificial Intelligence
Euclidean minimum spanning tree
Expectation–maximization algorithm
FOS: Electrical engineering
electronic engineering
information engineering
0202 electrical engineering
electronic engineering
information engineering
ComputingMethodologies_COMPUTERGRAPHICS
B-spline
020206 networking & telecommunications
Computer Science Applications
Metric (mathematics)
Robotics (cs.RO)
Algorithm
Rope
Zdroj: Int J Intell Robot Appl
ISSN: 2366-5971
Popis: In this paper, a B-spline chained multiple random matrix models (RMMs) representation is proposed to model geometric characteristics of an elongated deformable object. The hyper degrees of freedom structure of the elongated deformable object make its shape estimation challenging. Based on the likelihood function of the proposed B-spline chained multiple RMMs, an expectation-maximization (EM) method is derived to estimate the shape of the elongated deformable object. A split and merge method based on the Euclidean minimum spanning tree (EMST) is proposed to provide initialization for the EM algorithm. The proposed algorithm is evaluated for the shape estimation of the elongated deformable objects in scenarios, such as the static rope with various configurations (including configurations with intersection), the continuous manipulation of a rope and a plastic tube, and the assembly of two plastic tubes. The execution time is computed and the accuracy of the shape estimation results is evaluated based on the comparisons between the estimated width values and its ground-truth, and the intersection over union (IoU) metric.
Databáze: OpenAIRE
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