论文标题
使用B-Spline链式多个随机矩阵模型的伸长变形对象的形状估计
Shape Estimation for Elongated Deformable Object using B-spline Chained Multiple Random Matrices Model
论文作者
论文摘要
在本文中，提出了B-Spline链条多个随机矩阵表示形式，以模拟伸长的变形物体的几何特性。伸长的可变形物体的超级自由结构的超级自由结构使其形状估计具有挑战性。基于提出模型的可能性函数，得出了一种期望最大化（EM）方法以估计伸长的变形对象的形状。提出了一种基于欧几里得最小生成树（EMST）的分裂和合并方法，以提供EM算法的初始化。评估了所提出的算法，以在场景中的伸长式可变形物体的形状估计，例如具有各种构型的静态绳索（包括带有相交的配置），绳索和塑料管的连续操纵，以及两个塑料管的组装。计算执行时间，并根据估计宽度值及其地面真相之间的比较以及与联合（IOU）度量的交集之间的比较来评估形状估计结果的准确性。
In this paper, a B-spline chained multiple random matrices representation is proposed to model geometric characteristics of an elongated deformable object. The hyper degrees of freedom structure of the elongated deformable object make its shape estimation challenging. Based on the likelihood function of the proposed model, an expectation-maximization (EM) method is derived to estimate the shape of the elongated deformable object. A split and merge method based on the Euclidean minimum spanning tree (EMST) is proposed to provide initialization for the EM algorithm. The proposed algorithm is evaluated for the shape estimation of the elongated deformable objects in scenarios, such as the static rope with various configurations (including configurations with intersection), the continuous manipulation of a rope and a plastic tube, and the assembly of two plastic tubes. The execution time is computed and the accuracy of the shape estimation results is evaluated based on the comparisons between the estimated width values and its ground-truth, and the intersection over union (IoU) metric.
