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Manipulating deformable linear objects - Vision-based recognition of contact state transitions -
Frank Abbegg , Dominik Henrich , Heinz Wörn

Abstract (english)
A new and systematic approach to machine vision-based robot manipulation of deformable (non-rigid) linear objects is introduced. This approach reduces the computational needs by using a simple state-oriented model of the objects. These states describe the relation of the object with respect to an obstacle and are derived from the object image and its features. Therefore, the object is segmented from a standard video frame using a fast segmentation algorithm. Several object features are presented which allow the state recognition of the object while being manipulated by the robot.

Publication data

Year: 1999
Publication date: 25. October 1999
Source: The 9th International Conference on Advanced Robotics (ICAR'99), Tokyo, October 25 - 27, 1999, pp. 135-140
Project: HANDFLEX
Referrer: http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=abbegg1999a

BibTeX

@MISC{abbegg1999a,
  TITLE             = "Manipulating deformable linear objects - Vision-based recognition of contact state transitions -",
  AUTHOR            = "Abbegg, Frank and Henrich, Dominik and Wörn, Heinz",
  YEAR              = "1999",
  JOURNAL           = "The 9th International Conference on Advanced Robotics (ICAR'99), Tokyo, October  25 - 27, 1999, pp. 135-140",
  HOWPUBLISHED      = "\url{http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=abbegg1999a}",
}

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abbegg1999a.Manipulating.deformable.linear.objects.Visionbased.recognition.of.contact.state.transitions.djvu   142.4K   english   DJVU   download preprint
abbegg1999a.Manipulating.deformable.linear.objects.Visionbased.recognition.of.contact.state.transitions.pdf   524.3K   english   PDF   download preprint


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