Identifying physical properties of deformable objects by using particle filters

被引：7

作者：

Burion, Steve ^{[1
]}

Conti, Francois ^{[2
]}

Petrovskaya, Anna ^{[2
]}

Baur, Charles ^{[1
]}

Khatib, Oussama ^{[2
]}

机构：

[1] Ecole Polytech Fed Lausanne, IPR LSRO, VRAI Grp, CH-1015 Lausanne, Switzerland

[2] Stanford Univ, Dept Comp Sci, Stanford, CA 94305 USA

来源：

2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9 | 2008年

关键词：

simulation; real-time; deformable bodies; model estimation; particle filter;

D O I：

10.1109/ROBOT.2008.4543353

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 new approach for estimating physical properties of deformable models from experimental measurements. In contrast to most previous work, we introduce a new method based on particle filters which identifies the different stiffness properties for spring-based models. This approach addresses some important limitations encountered with gradient descent techniques which often converge towards ill solutions or remain fixed in local minima conditions.

引用

页码：1112 / +

页数：2

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