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simmediumgraspingmetric · varies
Fast Point Cloud to Mesh Reconstruction for Deformable Object Tracking
Description
The world around us is full of soft objects we perceive and deform with dexterous hand movements. For a robotic hand to control soft objects, it has to acquire online state feedback of the deforming object. While RGB-D cameras can collect occluded point clouds at a rate of 30Hz, this does not represent a continuously trackable object surface. Hence, in this work, we developed a method that takes as input a template mesh which is the mesh of an object in its non-deformed state and a deformed poin