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1、InteractiveComputationalImagingforDeformableObjectAnalysisDonaldG.Dansereau1,SuryaP.N.Singh2,JurgenLeitner¨1AbstractWedescribeaninteractiveapproachforvisualobjectanalysiswhichexploitstheabilityofarobottoma-nipulateitsenvironment.Knowledgeofobjects’mechanicalpropertiesisimportantinahostofroboticstask
2、s,buttheirmeasurementcanbeimpracticalduetoperceptualormechan-icallimitations.Byapplyingaperiodicstimulusandmatchedvideofilteringandanalysispipeline,weshowthatevenstiff,fragile,orlow-textureobjectscanbedistinguishedbasedontheirmechanicalbehaviours.Weconstructanovel,linearfilterexploitingperiodicityofth
3、estimulustoreducenoise,enhancecontrast,andamplifymotionbyaselectablegaintheproposedfilterissignificantlysimplerthanpreviousapproachestomotionamplification.Wefurtherproposeasetofstatisticsbasedondenseopticalflowderivedfromthefilteredvideo,anddemonstratevisualobjectanalysisbasedonthesestatisticsforobjectso
4、fferinglowcontrastandlimiteddeflection.Finally,weanalyze7objecttypesover59trialsundervaryingilluminationandpose,demonstratingthatobjectsarelinearlyFig.1.Interactive,VisualAnalysisofanObject’sMaterialProperties.Baxtersqueezingarangeofitems(top-left),withanexternalcameradistinguishableunderthisapproach
5、,andestablishtheviabilityobserving(top-right).Byapplyingaknown,periodicstimulus,weshowofestimatingfluidlevelinacupfromthesamestatistics.thatmatchedvideofilteringandsimplestatisticscanbeusedtodistinguishobjectsbasedonmaterialproperties,evenforstiff,fragile,orlow-textureI.INTRODUCTIONobjects.(bottom)Exa
6、mpleinputframesforthreebeveragecontainertypes:C1haslittletexture,C3showsonlysmalldeformations,andC1andC2areTheneedtointeractwithdeformableobjectsislegioneasilycrushed.inrobotics,fromdomesticapplicationslikeshoppingandfoodpreparationtoagricultural,manufacturingandindus-mostrobotsthatinteractwiththeir
7、environmentshave.Fig.1trialapplications[1][3].CompliancechallengesclassicaldepictsaBaxterrobotapplyingtheproposedmethodtoapproachesandstrainsrigid-bodyassumptions.Arigidge-analyzeasetofdeformableobjec
