Realtime Robust Shape Estimation of Deformable Linear Object

arXiv:2403.16146v1 Announce Type: cross
Abstract: Realtime shape estimation of continuum objects and manipulators is essential for developing accurate planning and control paradigms. The existing methods that create dense point clouds from camera images, and/or use distinguishable markers on a deformable body have limitations in realtime tracking of large continuum objects/manipulators. The physical occlusion of markers can often compromise accurate shape estimation. We propose a robust method to estimate the shape of linear deformable objects in realtime using scattered and unordered …

abstract arxiv control cs.cv cs.ro images limitations linear object objects planning realtime robust tracking type