Computation of Curvature Skeleton to Measure Deformations in Surfaces

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Title: Computation of Curvature Skeleton to Measure Deformations in Surfaces
Authors: Mateo Agulló, Carlos | Gil, Pablo | Torres, Fernando
Research Group/s: Automática, Robótica y Visión Artificial
Center, Department or Service: Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal
Keywords: 3D shape | Surface | Curvature | Surface normal | Geometric modelling | Deformations visual perception
Knowledge Area: Ingeniería de Sistemas y Automática
Issue Date: 2016
Publisher: Springer International Publishing Switzerland
Citation: Filipe, J., etal. (eds.). Informatics in Control, Automation and Robotics 12th International Conference, ICINCO 2015 Colmar, France, July 21-23, 2015 Revised Selected Papers, Lecture Notes in Electrical Engineering 383, pp. 197-207. doi:10.1007/978-3-319-31898-1_11
Abstract: This work presents a method to analyse 3D flat objects and to measure variations of its surface. The method represents of the objects using processsing techniques based on point cloud. The proposed method is focused on the deformation detection of elastic objects which are formed by flat faces. These deformations are usually caused when two bodies, a solid and another elastic object, come in contact and there are contact pressures among their faces. Our method describes an algorithm to estimate the deformation shape. It is done by calculating its skeleton. Particularly, the algorithm calculates the curvature values of the surface points on the object using an analysis of eigenvectors and eigenvalues. Afterwards, the points of the similar curvature are grouped in level curvatures. Finally, a set of the minimum path among level curvatures are calculated to obtain the skeleton. The paper shows a set of experiments which simulate the deformations caused by a robot hand in manipulation tasks of flat objects.
Sponsor: The research leading to these results has received funding from the Spanish Government and European FEDER funds (DPI2012-32390 andDPI2015-68087R) and the Valencia Regional Government (PROMETEO/2013/085).
ISBN: 978-3-319-31896-7
ISSN: 1876-1100
DOI: 10.1007/978-3-319-31898-1_11
Language: eng
Type: info:eu-repo/semantics/article
Rights: © Springer International Publishing Switzerland 2016
Peer Review: si
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Appears in Collections:INV - AUROVA - Artículos de Revistas

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