Leveraging Appearance Priors in Non-Rigid Registration, with Application to Manipulation of Deformable Objects | |
|
|
Abstract —
Manipulation of deformable objects is a widely applicable but challenging
task in robotics. One promising non-parametric approach for this problem
is trajectory transfer, in which a non-rigid registration is computed
between the starting scene of the demonstration and the scene at test
time. This registration is extrapolated to find a function from
R3 to R3, which is then used to warp
the demonstrated robot trajectory to generate a proposed trajectory to
execute in the test scene. In prior work, only depth information from the
scenes has been used to compute this warp function. This approach ignores
appearance information, but there are situations in which using both shape
and appearance information is necessary for finding high quality non-rigid
warp functions.
| |
| |
|
|
| |
|