Abstract
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.
| Original language | English |
|---|---|
| Pages (from-to) | 1188-1206 |
| Number of pages | 19 |
| Journal | Robotica |
| Volume | 40 |
| Issue number | 4 |
| Early online date | 9 Aug 2021 |
| DOIs | |
| Publication status | Published - Apr 2022 |
Bibliographical note
Copyright © The Author(s), 2021. Published by Cambridge University Press.This is an open access article distributed under the terms of the Creative Commons CC BY license, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Data Access Statement
The data that support the findings of this study are openly available in Figshare (https://figshare.com/s/9c24dda2aa383d38af1a) with doi (10.6084/m9.figshare.12084996)Funding
This research was conducted as part of the project called “Reuse and Recycling of Lithium-Ion Batteries” (RELIB). This work was supported by the Faraday Institution [grant number FIRG005].
Keywords
- cable management
- deformable object
- kinematic control
- real-time tracking
- slicing