Reconstructing non-stationary articulated objects in monocular video using silhouette information

2008 IEEE Conference on Computer Vision and Pattern Recognition ◽

10.1109/cvpr.2008.4587700 ◽

2008 ◽

Cited By ~ 2

Author(s):

Saad M. Khan ◽

Mubarak Shah

Keyword(s):

Articulated Objects ◽

Monocular Video ◽

Silhouette Information

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3D Human Pose Analysis from Monocular Video by Simulated Annealed Particle Swarm Optimization

ACTA AUTOMATICA SINICA ◽

10.3724/sp.j.1004.2012.00732 ◽

2012 ◽

Vol 38 (5) ◽

pp. 732-741 ◽

Cited By ~ 5

Author(s):

Yi LI ◽

Zheng-Xing SUN ◽

Song-Le CHEN ◽

Qian LI

Keyword(s):

Particle Swarm Optimization ◽

Particle Swarm ◽

Swarm Optimization ◽

Monocular Video ◽

Human Pose

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Topological representation of cloth state for robot manipulation

Autonomous Robots ◽

10.1007/s10514-021-09968-7 ◽

2021 ◽

Author(s):

Fabio Strazzeri ◽

Carme Torras

Keyword(s):

State Space ◽

Configuration Space ◽

Common Ground ◽

Low Complexity ◽

Flag Manifold ◽

Infinite Dimensional ◽

Articulated Objects ◽

Research Goal ◽

State Graphs ◽

Deformable Materials

AbstractForty years ago the notion of configuration space (C-space) revolutionised robot motion planning for rigid and articulated objects. Despite great progress, handling deformable materials has remained elusive because of their infinite-dimensional shape-state space. Finding low-complexity representations has become a pressing research goal. This work tries to make a tiny step in this direction by proposing a state representation for textiles relying on the C-space of some distinctive points. A stratification of the configuration space for n points in the cloth is derived from that of the flag manifold, and topological techniques to determine adjacencies in manipulation-centred state graphs are developed. Their algorithmic implementation permits obtaining cloth state–space representations of different granularities and tailored to particular purposes. An example of their usage to distinguish between cloth states having different manipulation affordances is provided. Suggestions on how the proposed state graphs can serve as a common ground to link the perception, planning and manipulation of textiles are also made.

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