Shape modeling of a string and recognition using distance sensor

Keisuke Mukai, Takayuki Matsuno, Akira Yanou, Mamoru Minami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

The demand is growing that a robot manipulates a deformable object. Scenarios for both of a grasping point and transfer of grasped point are required, in order to manipulate a deformable object by a robot. Therefore, it is important for a robot to recognize its form by using image information. In this paper, three-dimensional points groups of a string are obtained by a camera that has distance measure equipment. A shape model called 'point chain model' is obtained from points group based on proposed algorithm. In this algorithm, first, points which are estimated to be outside of target object are removed from obtained points groups. Secondly, points groups obtained from various viewpoints are combined to reconstruct three-dimensional shape of a string. Thirdly, central axes of a string are abstracted from combined points groups. Finally, central axes are chained to construct the point chain model. Effectiveness of proposed algorithm is confirmed by experiment.

Original languageEnglish
Title of host publicationProceedings - IEEE International Workshop on Robot and Human Interactive Communication
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages363-368
Number of pages6
Volume2015-November
ISBN (Print)9781467367042
DOIs
Publication statusPublished - Nov 20 2015
Event24th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2015 - Kobe, Japan
Duration: Aug 31 2015Sep 4 2015

Other

Other24th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2015
CountryJapan
CityKobe
Period8/31/159/4/15

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Human-Computer Interaction
  • Computer Vision and Pattern Recognition

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  • Cite this

    Mukai, K., Matsuno, T., Yanou, A., & Minami, M. (2015). Shape modeling of a string and recognition using distance sensor. In Proceedings - IEEE International Workshop on Robot and Human Interactive Communication (Vol. 2015-November, pp. 363-368). [7333624] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROMAN.2015.7333624