Abstract
Estimating object deformations is important in various industrial applications, such as material testing or object shape control. However, existing methods assume smooth or gradual deformations and thus face a significant challenge when it comes to sudden changes in an object’s shape. In this paper, we propose a novel approach using our FMM-based contour mapping framework to estimate the deformation mesh of texture-less objects that experience abrupt shape changeslysing the contour’s geometry, we compute a map between the contours of consecutive deformation states, which we use as input to update the deformation mesh. Our experiments and comparisons demonstrate the effectiveness of our method in handling abrupt deformations and accurately estimating the object’s deformation mesh.
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Acknowledgements
This work was supported via projects PID2021-124137OB-I00 and TED2021-130224B-I00 funded by MCIN/AEI/10.13039/501100011033, by ERDF A way of making Europe and by the European Union NextGenerationEU/PRTR and Gobierno de Aragón T45_23R.
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Cuiral-Zueco, I., López-Nicolás, G. (2024). Elastic Contour Mapping for the Estimation of Abrupt Shape Deformations. In: Marques, L., Santos, C., Lima, J.L., Tardioli, D., Ferre, M. (eds) Robot 2023: Sixth Iberian Robotics Conference. ROBOT 2023. Lecture Notes in Networks and Systems, vol 976. Springer, Cham. https://doi.org/10.1007/978-3-031-58676-7_32
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DOI: https://doi.org/10.1007/978-3-031-58676-7_32
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