Publikationsdatenbank
Publication
Manipulating Deformable Linear Objects: Characteristic Features for Vision-Based Detection of Contact State TransitionsJürgen Acker , Dominik Henrich
Abstract (english)
This paper deals with the handling of deformable linear objects (DLOs), such as hoses, wires, or leaf springs. It investigates usable features for the vision-based detection of a changing contact situation between a DLO and a rigid polyhedral obstacle and a classification of such contact state transitions. The result is a complete classification of contact state transitions and of the most significant features for each class. This knowledge enables reliable detection of changes in the DLO contact situation, facilitating implementation of sensor-based manipulation skills for all possible contact changes.
Publication data
| Year: | 2003 |
| Publication date: | 21. July 2003 |
| Source: | Proc. of the Int. Symp. On Assembly and Task Planning (ISATP |
| Project: | RODEO |
| Referrer: | https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?mode=pub_show&pub_ref=acker2003a |
BibTeX
@MISC{acker2003a,
TITLE = "Manipulating Deformable Linear Objects: Characteristic Features for Vision-Based Detection of Contact State Transitions",
AUTHOR = "Acker, Jürgen and Henrich, Dominik",
YEAR = "2003",
JOURNAL = "Proc. of the Int. Symp. On Assembly and Task Planning (ISATP",
HOWPUBLISHED = "\url{https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?mode=pub_show&pub_ref=acker2003a}",
}
Download
| Filename | Size | Language | Format | ||||
|---|---|---|---|---|---|---|---|
| acker2003a.Manipulating.Deformable.Linear.Objects.Characteri stic.Features.for.VisionBased.Detection.of.Contact.State.Tra nsitions.djvu |
93K | english | DJVU | download preprint | |||
| acker2003a.Manipulating.Deformable.Linear.Objects.Characteri stic.Features.for.VisionBased.Detection.of.Contact.State.Tra nsitions.pdf |
482.5K | english | download preprint |