Real-time Pose Estimation of Deformable Objects …yli/IROS2014/IROS2014_Slides.pdfYinxiao Li Real-time Pose Estimation of Deformable Objects Using a Volumetric Approach Yinxiao Li,

Page 1 <img data-url='document/real-time-pose-estimation-of-deformable-objects-yliiros2014iros2014slidespdf.html?page=1' data-page='1' class='cut-thumb lazyload' alt='Page 1: Real-time Pose Estimation of Deformable Objects …yli/IROS2014/IROS2014_Slides.pdfYinxiao Li Real-time Pose Estimation of Deformable Objects Using a Volumetric Approach Yinxiao Li,' loading='lazy' src='data:image/gif;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAADUlEQVR42mNk+P+/HgAFhAJ/wlseKgAAAABJRU5ErkJggg==' data-src='https://reader036.cupdf.com/reader036/viewer/2022062606/5fe1d95a565aa57c1e383cfa/html5/thumbnails/1.jpg' width='140' height='200' /> Yinxiao Li Yinxiao Li

Real-time Pose Estimation of Deformable Objects Using a Volumetric Approach

Yinxiao Li, Yan Wang, Michael Case, Shih-Fu Chang, Peter K. Allen

Page 2 <img data-url='document/real-time-pose-estimation-of-deformable-objects-yliiros2014iros2014slidespdf.html?page=2' data-page='2' class='cut-thumb lazyload' alt='Page 2: Real-time Pose Estimation of Deformable Objects …yli/IROS2014/IROS2014_Slides.pdfYinxiao Li Real-time Pose Estimation of Deformable Objects Using a Volumetric Approach Yinxiao Li,' loading='lazy' src='data:image/gif;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAADUlEQVR42mNk+P+/HgAFhAJ/wlseKgAAAABJRU5ErkJggg==' data-src='https://reader036.cupdf.com/reader036/viewer/2022062606/5fe1d95a565aa57c1e383cfa/html5/thumbnails/2.jpg' width='140' height='200' /> Yinxiao Li

Deformable Object Grasping Pipeline

Page 3 <img data-url='document/real-time-pose-estimation-of-deformable-objects-yliiros2014iros2014slidespdf.html?page=3' data-page='3' class='cut-thumb lazyload' alt='Page 3: Real-time Pose Estimation of Deformable Objects …yli/IROS2014/IROS2014_Slides.pdfYinxiao Li Real-time Pose Estimation of Deformable Objects Using a Volumetric Approach Yinxiao Li,' loading='lazy' src='data:image/gif;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAADUlEQVR42mNk+P+/HgAFhAJ/wlseKgAAAABJRU5ErkJggg==' data-src='https://reader036.cupdf.com/reader036/viewer/2022062606/5fe1d95a565aa57c1e383cfa/html5/thumbnails/3.jpg' width='140' height='200' /> Yinxiao Li

Deformable Object Grasping Pipeline

Page 4 <img data-url='document/real-time-pose-estimation-of-deformable-objects-yliiros2014iros2014slidespdf.html?page=4' data-page='4' class='cut-thumb lazyload' alt='Page 4: Real-time Pose Estimation of Deformable Objects …yli/IROS2014/IROS2014_Slides.pdfYinxiao Li Real-time Pose Estimation of Deformable Objects Using a Volumetric Approach Yinxiao Li,' loading='lazy' src='data:image/gif;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAADUlEQVR42mNk+P+/HgAFhAJ/wlseKgAAAABJRU5ErkJggg==' data-src='https://reader036.cupdf.com/reader036/viewer/2022062606/5fe1d95a565aa57c1e383cfa/html5/thumbnails/4.jpg' width='140' height='200' /> Yinxiao Li

Deformable Object Grasping Pipeline

Page 5 <img data-url='document/real-time-pose-estimation-of-deformable-objects-yliiros2014iros2014slidespdf.html?page=5' data-page='5' class='cut-thumb lazyload' alt='Page 5: Real-time Pose Estimation of Deformable Objects …yli/IROS2014/IROS2014_Slides.pdfYinxiao Li Real-time Pose Estimation of Deformable Objects Using a Volumetric Approach Yinxiao Li,' loading='lazy' src='data:image/gif;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAADUlEQVR42mNk+P+/HgAFhAJ/wlseKgAAAABJRU5ErkJggg==' data-src='https://reader036.cupdf.com/reader036/viewer/2022062606/5fe1d95a565aa57c1e383cfa/html5/thumbnails/5.jpg' width='140' height='200' /> Yinxiao Li

Deformable Object Grasping Pipeline

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Experimental Results

• Average Distance Error: 13.6 cm (28 tests)

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