Boundary element deformable object tracking with equilibrium constraints

被引：6

作者：

Greminger, MA ^{[1
]}

Sun, Y ^{[1
]}

Nelson, BJ ^{[1
]}

机构：

[1] Univ Minnesota, Dept Engn Mech, Minneapolis, MN 55455 USA

来源：

2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS | 2004年

关键词：

D O I：

10.1109/ROBOT.2004.1308875

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a deformable object tracking algorithm based on the boundary element method (BEM). BEM differs from the finite element method (FEM) in that only the boundary of the object needs to be meshed for BEM. FEM requires that the interior of the object is meshed in addition to its boundary. This feature of BEM makes it attractive for computer vision problems. We present a deformable template that uses BEM to model deformations. This deformable template is registered to an image using an energy minimization approach. The BEM tracking algorithm presented in this paper constrains the tracking results to satisfy the condition of static equilibrium. This increases the robustness of the tracking results and enhances the usefulness of the forces obtained from the tracking procedure. We demonstrate the tracking performance of this algorithm for objects with linear and non-linear elastic properties. In addition, the results of tracking the deformations of a cell are presented.

引用

页码：3896 / 3901

页数：6

共 17 条

[11]

Nakamura Y, 2001, IEEE INT CONF ROBOT, P2014, DOI 10.1109/ROBOT.2001.932903

[12]

Press WH, 1993, NUMERICAL RECIPES C

[13] AN INTEGRAL EQUATION APPROACH TO BOUNDARY VALUE PROBLEMS OF CLASSICAL ELASTOSTATICS [J].

RIZZO, FJ .

QUARTERLY OF APPLIED MATHEMATICS, 1967, 25 (01) :83-&

[14] Biological cell injection using an autonomous microrobotic system [J].

Sun, Y ;

Nelson, BJ .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2002, 21 (10-11) :861-868

[15] Efficient nonlinear finite element modeling of nonrigid objects via optimization of mesh models [J].

Tsap, LV ;

Goldgof, DB ;

Sarkar, S ;

Huang, WC .

COMPUTER VISION AND IMAGE UNDERSTANDING, 1998, 69 (03) :330-350

[16] Vision-based sensing of forces in elastic objects [J].

Wang, XY ;

Ananthasuresh, GK ;

Ostrowski, JP .

SENSORS AND ACTUATORS A-PHYSICAL, 2001, 94 (03) :142-156

[17]

YANG G, 2001, P 2001 IEEE INT C RO

← 1 2 →