Time-consistent estimation of end-effectors from RGB-D data

End-effectors are usually related to the location of the free end of a kinematic chain. Each of them contains rich structure information about the entity. Hence, estimating stable end-effectors of different entities enables robust tracking as well as a generic representation. In this paper, we prese...

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Detalles Bibliográficos
Autores: Lin, Xiao, Pardàs Feliu, Montse|||0000-0002-5861-6356, Casas Pla, Josep Ramon|||0000-0003-4639-6904
Tipo de recurso: capítulo de libro
Fecha de publicación:2016
País:España
Institución:Universitat Politècnica de Catalunya (UPC)
Repositorio:UPCommons. Portal del coneixement obert de la UPC
Idioma:inglés
OAI Identifier:oai:upcommons.upc.edu:2117/101150
Acceso en línea:https://hdl.handle.net/2117/101150
https://dx.doi.org/10.1007/978-3-319-29451-3
Access Level:acceso abierto
Palabra clave:Digital imaging and computer vision
Image processing
End-effector estimation
Time coherence
Topology representation
Imatges -- Processament
Imatges digitals
Àrees temàtiques de la UPC::Enginyeria de la telecomunicació::Processament del senyal::Processament de la imatge i del senyal vídeo
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network_acronym_str ES
network_name_str España
repository_id_str
spelling Time-consistent estimation of end-effectors from RGB-D dataLin, XiaoPardàs Feliu, Montse|||0000-0002-5861-6356Casas Pla, Josep Ramon|||0000-0003-4639-6904Digital imaging and computer visionImage processingEnd-effector estimationTime coherenceTopology representationImatges -- ProcessamentImatges digitalsÀrees temàtiques de la UPC::Enginyeria de la telecomunicació::Processament del senyal::Processament de la imatge i del senyal vídeoEnd-effectors are usually related to the location of the free end of a kinematic chain. Each of them contains rich structure information about the entity. Hence, estimating stable end-effectors of different entities enables robust tracking as well as a generic representation. In this paper, we present a system for end-effector estimation from RGB-D stream data. Instead of relying on a specific pose or configuration for initialization, we exploit time coherence without making any assumption with respect to the prior knowledge. This makes the estimation process more robust in a predict-update framework. Qualitative and quantitative experiments are performed against the reference method with promising results.Peer ReviewedSpringer20162016-02-0420172017-02-16book parthttp://purl.org/coar/resource_type/c_3248AMhttp://purl.org/coar/version/c_ab4af688f83e57aainfo:eu-repo/semantics/bookPartapplication/pdfhttps://hdl.handle.net/2117/101150https://dx.doi.org/10.1007/978-3-319-29451-3reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/1011502026-05-27T15:37:01Z
dc.title.none.fl_str_mv Time-consistent estimation of end-effectors from RGB-D data
title Time-consistent estimation of end-effectors from RGB-D data
spellingShingle Time-consistent estimation of end-effectors from RGB-D data
Lin, Xiao
Digital imaging and computer vision
Image processing
End-effector estimation
Time coherence
Topology representation
Imatges -- Processament
Imatges digitals
Àrees temàtiques de la UPC::Enginyeria de la telecomunicació::Processament del senyal::Processament de la imatge i del senyal vídeo
title_short Time-consistent estimation of end-effectors from RGB-D data
title_full Time-consistent estimation of end-effectors from RGB-D data
title_fullStr Time-consistent estimation of end-effectors from RGB-D data
title_full_unstemmed Time-consistent estimation of end-effectors from RGB-D data
title_sort Time-consistent estimation of end-effectors from RGB-D data
dc.creator.none.fl_str_mv Lin, Xiao
Pardàs Feliu, Montse|||0000-0002-5861-6356
Casas Pla, Josep Ramon|||0000-0003-4639-6904
author Lin, Xiao
author_facet Lin, Xiao
Pardàs Feliu, Montse|||0000-0002-5861-6356
Casas Pla, Josep Ramon|||0000-0003-4639-6904
author_role author
author2 Pardàs Feliu, Montse|||0000-0002-5861-6356
Casas Pla, Josep Ramon|||0000-0003-4639-6904
author2_role author
author
dc.subject.none.fl_str_mv Digital imaging and computer vision
Image processing
End-effector estimation
Time coherence
Topology representation
Imatges -- Processament
Imatges digitals
Àrees temàtiques de la UPC::Enginyeria de la telecomunicació::Processament del senyal::Processament de la imatge i del senyal vídeo
topic Digital imaging and computer vision
Image processing
End-effector estimation
Time coherence
Topology representation
Imatges -- Processament
Imatges digitals
Àrees temàtiques de la UPC::Enginyeria de la telecomunicació::Processament del senyal::Processament de la imatge i del senyal vídeo
description End-effectors are usually related to the location of the free end of a kinematic chain. Each of them contains rich structure information about the entity. Hence, estimating stable end-effectors of different entities enables robust tracking as well as a generic representation. In this paper, we present a system for end-effector estimation from RGB-D stream data. Instead of relying on a specific pose or configuration for initialization, we exploit time coherence without making any assumption with respect to the prior knowledge. This makes the estimation process more robust in a predict-update framework. Qualitative and quantitative experiments are performed against the reference method with promising results.
publishDate 2016
dc.date.none.fl_str_mv 2016
2016-02-04
2017
2017-02-16
dc.type.none.fl_str_mv book part
http://purl.org/coar/resource_type/c_3248
AM
http://purl.org/coar/version/c_ab4af688f83e57aa
dc.type.openaire.fl_str_mv info:eu-repo/semantics/bookPart
format bookPart
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/101150
https://dx.doi.org/10.1007/978-3-319-29451-3
url https://hdl.handle.net/2117/101150
https://dx.doi.org/10.1007/978-3-319-29451-3
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Springer
publisher.none.fl_str_mv Springer
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,300719

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