Robust shape estimation for 3D deformable object manipulation

Abstract

Existing shape estimation methods for deformable object manipulation suffer from the drawbacks of being off-line, model dependent, noise-sensitive or occlusion-sensitive, and thus are not appropriate for manipulation tasks requiring high precision.In this paper, we present a real-time shape estimation approach for autonomous robotic manipulation of 3D deformable objects. Our method fulfills all the requirements necessary for the high-quality deformable object manipulation in terms of being realtime, model-free and robust to noise and occlusion. These advantages are accomplished using a joint tracking and reconstruction framework, in which we track the object deformation by aligning a reference shape model with the stream input from the RGB-D camera, and simultaneously upgrade the reference shape model according to the newly captured RGB-D data. We have evaluated the quality and robustness of our real-time shape estimation pipeline on a set of deformable manipulation tasks implemented on physical robots. Videos are available at https://lifeisfantastic.github.io/DeformShapeEst/ arXiv:1809.09802v1 [cs.RO]

Disruption-Resistant Deformable Object Manipulation on Basis of Online Shape Estimation and Prediction-Driven Trajectory Correction

“…Active strategies are effective for acquiring initial models of cloth objects, but unsuitable for estimating shape continuously during goal-directed manipulations. Willimon et al [9] and Han et al [1] also propose estimation routines for deformable objects, but the amount of deformation considered is less than many common cloth manipulation scenarios, including ours, require.…”

“…Existing work has realized these functionalities in isolation [1] [2]. If we loosen the demand for online operation, work combining multiple of these elements can also be found [3].…”

Local conformal autoencoder for standardized data coordinates

“…Our first application is motivated by ref. 32 , in which the authors propose a method for estimating the 3D deformation of a 2D object. They focus on the task of autonomous robotic manipulation of deformable objects.…”

Monocular Visual Shape Tracking and Servoing for Isometrically Deforming Objects

“…We focus on works where robots interact with the tracked object. The works [13]- [16] use an RGBD camera to track textureless deformable objects. Particularly, [16] focused on satisfying the requisites of a shape servoing task: principally, fast computation and robustness to occlusion (caused by the robots and the object).…”

“…The works [13]- [16] use an RGBD camera to track textureless deformable objects. Particularly, [16] focused on satisfying the requisites of a shape servoing task: principally, fast computation and robustness to occlusion (caused by the robots and the object). Indeed, occlusion is a major factor that makes the tracking problem hard; an illustration of this is [17], where two robotic hands fold an isometrically deforming object (a paper sheet).…”