Analysis of Shapes to Measure Surfaces: An Approach for Detection of Deformations

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Title: Analysis of Shapes to Measure Surfaces: An Approach for Detection of Deformations
Authors: Mateo Agulló, Carlos | Gil, Pablo | Mira Martínez, Damián | 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: 17-Jul-2015
Publisher: SciTePress
Citation: Mateo, C. M., et al. (2015). “Analysis of Shapes to Measure Surfaces: An Approach for Detection of Deformations”. In: Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2015). Vol. 2, 60-65
Abstract: This paper presents a method to analyse 3D planar surfaces and to measure variations on it. The method is oriented to the detection of deformations on the elastic object surfaces 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 a strategy to model the shape of deformation using a mathematical approach based on two concepts: Histogram and Map of curvature. In particular, we describe the algorithm for deformations in order to use it in visual control and inspection tasks for manipulation processes with robot hands. Several experiments and their results are shown to evaluate the validity and robustness of the method to detect and measure deformations in grasping tasks. To do it, some virtual scenarios were created to simulate contacts with fingers of a hand robot.
Sponsor: The research leading to these results has received funding from the Spanish Government and European FEDER funds (DPI2012-32390) and the Valencia Regional Government (PROMETEO/2013/085).
ISBN: 978-989-758-123-6 | 978-9-8975-8149-6
Language: eng
Type: info:eu-repo/semantics/conferenceObject
Rights: © 2015 SCITEPRESS – Science and Technology Publications
Peer Review: si
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