REMODEL. WP4. Vision-based Perception. T4_3. Cable Detection and Tracking. Reconstructing and Tracking Deformable Linear Objects. v0

Caporali, Alessio ; Galassi, Kevin ; Palli, Gianluca (2023) REMODEL. WP4. Vision-based Perception. T4_3. Cable Detection and Tracking. Reconstructing and Tracking Deformable Linear Objects. v0. University of Bologna. DOI 10.6092/unibo/amsacta/7284. [Dataset]
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Abstract

The dataset contains the source code utilized for the experimental validation of the 3D deformable linear objects shape reconstruction and tracking system. The developed approach is called DLO3DS. The developed procedure is based on a pipeline that first processes the images coming from the 2D camera extracting key topological points along the DLOs. These points are then used to model each DLO with a B-spline curve. Finally, the set of splines obtained from all the images is matched by exploiting a multi-view stereo-based algorithm. The associated publication is the following: A. Caporali, K. Galassi and G. Palli, "Deformable Linear Objects 3D Shape Estimation and Tracking From Multiple 2D Views," in IEEE Robotics and Automation Letters, vol. 8, no. 6, pp. 3852-3859, June 2023, doi: 10.1109/LRA.2023.3273518.

Abstract
Document type
Dataset
Creators
CreatorsAffiliationORCID
Caporali, AlessioUniversity of Bologna
Galassi, KevinUniversity of Bologna
Palli, GianlucaUniversity of Bologna
Subjects
DOI
Contributors
Name
Affiliation
Type
Caporali, Alessio
University of Bologna
Contact person
Deposit date
08 Jun 2023 11:19
Last modified
08 Jun 2023 11:19
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Code
DOI
this upload is supplement to
Project name
REMODEL - Robotic tEchnologies for the Manipulation of cOmplex DeformablE Linear objects
Funding program
EC - H2020
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