Interactive Robotic Moving Cable Segmentation by Motion Correlation

Kód výsledku v 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>

Nalezeny alternativní kódy

RIV/68407700:21730/25:00383891

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Interactive Robotic Moving Cable Segmentation by Motion Correlation

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Interactive Robotic Moving Cable Segmentation by Motion Correlation

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2025

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

IEEE Robotics and Automation Letters

ISSN

2377-3766

e-ISSN

2377-3766

Svazek periodika

10

Číslo periodika v rámci svazku

7

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

8

Strana od-do

7420-7427

Kód UT WoS článku

001508109100004

EID výsledku v databázi Scopus

2-s2.0-105007314616