Publications of Antoine Petit
- Using Physical Modeling and RGB-D Registration for Contact Force Sensing on Deformable Objects
- Antoine Petit, Fanny Ficuciello, Giuseppe Andrea Fontanelli, Luigi Villani, Bruno Siciliano
- ScitePress; Springer. ICINCO 2017 – 14th International Conference on Informatics in Control, Automation and Robotics, Jul 2017, Madrid, Spain. ScitePress; Springer, 2 (978-989-758-263-9), pp.24-33, 2017, Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics. 〈http://www.icinco.org〉. 〈10.5220/0006415900240033〉
- In this paper we propose a method to estimate the force applied to a manipulated deformable object by processing information provided by an external vision sensor, in this case a consumer RGB-D camera. By measuring the deformations undergone by the object through a registration technique, the idea is to retrieve the contact force which minimises the deviation between the measured and the simulated deformations, given a simple interaction model and by employing a fitting process. The system resorts to a realistic mesh-based Finite Element Method model to accurately model deformations, whose elastic parameters are estimated in advance using the vision system and a force sensor. Experimental results are presented for the case of a compressive point-wise contact force applied, at static equilibrium, on a deformable object.
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- Deformed Reality: Proof of concept and preliminary results
- Nazim Haouchine, Antoine Petit, Frederick Roy, Stéphane Cotin
- ISMAR 2017 – 16th IEEE International Symposium on Mixed and Augmented Reality, Oct 2017, Nantes, France. 2017
- We introduce ” Deformed Reality ” , a new paradigm to interactively manipulate objects in a scene in a deformable manner. Using the core principle of augmented reality to estimate rigid pose over time, our method enables the user to deform the targeted object while it is being rendered with its natural texture, giving the sense of a real-time object editing in user environment. The presented results show that our method can open new ways of using augmented reality by not only augmenting the scene but also interacting with it in a non-rigid manner.
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