Interactive Robotic Moving Cable Segmentation by Motion Correlation
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F25%3A00383891" target="_blank" >RIV/68407700:21230/25:00383891 - isvavai.cz</a>
Alternative codes found
RIV/68407700:21730/25:00383891
Result on the web
<a href="https://doi.org/10.1109/LRA.2025.3574960" target="_blank" >https://doi.org/10.1109/LRA.2025.3574960</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/LRA.2025.3574960" target="_blank" >10.1109/LRA.2025.3574960</a>
Alternative languages
Result language
angličtina
Original language name
Interactive Robotic Moving Cable Segmentation by Motion Correlation
Original language description
Manipulating tangled hoses, cables, or ropes can be challenging for both robots and humans. Humans often approach these perceptually demanding tasks by pushing or pulling tangled cables and observing the resulting motions. We follow a similar idea to aid robotic cable manipulation. In this letter, we integrate visual and proprioceptive perception to segment a grasped cable by moving it even when the robot or the grasped cable sometimes perturb neighboring cables. We formulate the cable interactive segmentation problem in such a way that our methods do not require robot arm segmentation masks. Furthermore, a novel grasp sampling method can propose new cable grasp points given a partial cable segmentation to improve the segmentation via additional cable-robot interaction. We evaluate the proposed motion correlation (MCor) method on data sequences recorded by our physical robotic setup and show that the method outperforms an earlier motion segmentation (MSeg) baseline.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2025
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
IEEE Robotics and Automation Letters
ISSN
2377-3766
e-ISSN
2377-3766
Volume of the periodical
10
Issue of the periodical within the volume
7
Country of publishing house
US - UNITED STATES
Number of pages
8
Pages from-to
7420-7427
UT code for WoS article
001508109100004
EID of the result in the Scopus database
2-s2.0-105007314616