Tracking Partially-Occluded Deformable Objects while Enforcing Geometric Constraints
Yixuan Wang Dale McConachie Dmitry Berenson Yixuan Wang Dale McConachie Dmitry Berenson
In order to manipulate a deformable object, such as rope or cloth, in unstructured environments, robots need a way to estimate its current shape. However, tracking the shape of a deformable object can be challenging because of the object’s high flexibility, (self-)occlusion, and interaction with obstacles. Building a high-fidelity physics simulation to aid in tracking is difficult for novel enviro...