Kinematic Multibody Model Generation of Deformable Linear Objects from Point Clouds
Markus Wnuk,Christoph Hinze,Armin Lechler,Alexander Verl,Markus Wnuk,Christoph Hinze,Armin Lechler,Alexander Verl
Control and localization of deformable linear objects (DLOs) require models to handle their deformation. This paper proposes an approach to automatically generate a model from available visual sensor information. Based on point cloud data obtained from a 3D stereo camera, the kinematics of a multibody model formulation are derived. The approach aims to balance the tradeoff between computational co...
