论文标题
用于路由和操纵的可变形一维对象检测
Deformable One-Dimensional Object Detection for Routing and Manipulation
论文作者
论文摘要
存在许多方法，用于建模和跟踪视频帧流的可变形的一维对象（例如电缆，绳索和线程）。但是，这些方法取决于某些初始条件的存在。据我们所知，在非平凡情况下可以提取这些初始条件的检测方法的主题几乎没有得到解决。缺乏检测方法限制了在现实世界应用中使用跟踪方法的使用，并且是与这些对象一起使用的完全自主应用程序的瓶颈。 本文提出了一种检测可变形的一维对象的方法，该对象可以处理交叉和遮挡。它可用于诸如路由和操纵之类的任务，并自动提供跟踪方法所需的初始化。我们的算法采用包含可变形物体的图像，并输出与被动球形接头相连的固定长度圆柱段链。链条遵循可变形对象的自然行为，并填补了原始图像中的间隙和遮挡。我们的测试和实验表明，该方法可以在各种复杂条件下正确检测可变形的一维对象。
Many methods exist to model and track deformable one-dimensional objects (e.g., cables, ropes, and threads) across a stream of video frames. However, these methods depend on the existence of some initial conditions. To the best of our knowledge, the topic of detection methods that can extract those initial conditions in non-trivial situations has hardly been addressed. The lack of detection methods limits the use of the tracking methods in real-world applications and is a bottleneck for fully autonomous applications that work with these objects. This paper proposes an approach for detecting deformable one-dimensional objects which can handle crossings and occlusions. It can be used for tasks such as routing and manipulation and automatically provides the initialization required by the tracking methods. Our algorithm takes an image containing a deformable object and outputs a chain of fixed-length cylindrical segments connected with passive spherical joints. The chain follows the natural behavior of the deformable object and fills the gaps and occlusions in the original image. Our tests and experiments have shown that the method can correctly detect deformable one-dimensional objects in various complex conditions.
