Physics-Based Rigid Body Object Tracking and Friction Filtering From RGB-D Videos
Fuente:
arXiv
Salvato in:
| Autori principali: | , , |
|---|---|
| Natura: | Preprint |
| Pubblicazione: |
2023
|
| Soggetti: | |
| Accesso online: | |
| Tags: |
Aggiungi Tag
Nessun Tag, puoi essere il primo ad aggiungerne!!
|
| _version_ | 1866911893157838848 |
|---|---|
| author | Kandukuri, Rama Krishna Strecke, Michael Stueckler, Joerg |
| author_facet | Kandukuri, Rama Krishna Strecke, Michael Stueckler, Joerg |
| contents | Physics-based understanding of object interactions from sensory observations is an essential capability in augmented reality and robotics. It enables to capture the properties of a scene for simulation and control. In this paper, we propose a novel approach for real-to-sim which tracks rigid objects in 3D from RGB-D images and infers physical properties of the objects. We use a differentiable physics simulation as state-transition model in an Extended Kalman Filter which can model contact and friction for arbitrary mesh-based shapes and in this way estimate physically plausible trajectories. We demonstrate that our approach can filter position, orientation, velocities, and concurrently can estimate the coefficient of friction of the objects. We analyze our approach on various sliding scenarios in synthetic image sequences of single objects and colliding objects. We also demonstrate and evaluate our approach on a real-world dataset. We make our novel benchmark datasets publicly available to foster future research in this novel problem setting and comparison with our method. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2309_15703 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Physics-Based Rigid Body Object Tracking and Friction Filtering From RGB-D Videos Kandukuri, Rama Krishna Strecke, Michael Stueckler, Joerg Computer Vision and Pattern Recognition Physics-based understanding of object interactions from sensory observations is an essential capability in augmented reality and robotics. It enables to capture the properties of a scene for simulation and control. In this paper, we propose a novel approach for real-to-sim which tracks rigid objects in 3D from RGB-D images and infers physical properties of the objects. We use a differentiable physics simulation as state-transition model in an Extended Kalman Filter which can model contact and friction for arbitrary mesh-based shapes and in this way estimate physically plausible trajectories. We demonstrate that our approach can filter position, orientation, velocities, and concurrently can estimate the coefficient of friction of the objects. We analyze our approach on various sliding scenarios in synthetic image sequences of single objects and colliding objects. We also demonstrate and evaluate our approach on a real-world dataset. We make our novel benchmark datasets publicly available to foster future research in this novel problem setting and comparison with our method. |
| title | Physics-Based Rigid Body Object Tracking and Friction Filtering From RGB-D Videos |
| topic | Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2309.15703 |