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Manipulating deformable linear objects - Vision-based recognition of contact state transitions -

  • 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.

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Author:Frank Abegg, Dominik Henrich, Heinz Wörn
Document Type:Article
Language of publication:English
Year of Completion:1999
Year of Publication:1999
Publishing Institute:Technische Universität Kaiserslautern
Date of the Publication (Server):2000/05/25
Faculties / Organisational entities:Fachbereich Informatik
DDC-Cassification:0 Allgemeines, Informatik, Informationswissenschaft / 004 Informatik
Collections:AG RESY
Licence (German):Standard gemäß KLUEDO-Leitlinien vor dem 27.05.2011