A systematic approach to modeling of deformable soft parts for their manipulation is presented. Various deformable parts such as cords, leather products, and sheet metals are manipulated and are handled in a lot of manufacturing processes. Deformation of these parts is often utilized in order to manipulate them successfully while the manipulation sometimes fails because of unexpected deformatio...

This paper reviews model-based methods for non-rigid shape recognition. These methods model, match and classify non-rigid shapes, which are generally problematic for conventational algorithms using rigid models. Issues including model representation, optimization criteria formulation, model matching, and classi3cation are examined in detail with the objective to provide interested researchers a...

In this paper, we construct a new class of deformable models using a new family of biorthogonal wavelets, named generalized Hermite Distributed Approximating Functional (g-HDAF) Wavelets. The scaling functions of this new family are symmetric and the corresponding wavelets optimize their smoothness for a given number of vanishing moments. In addition, we embed these multiresolution deformable m...

BACKGROUND Biomechanical deformable volumetric registration can help improve safety of surgical interventions by ensuring the operations are extremely precise. However, this technique has been limited by the accuracy and the computational efficiency of patient-specific modeling. METHODS This study presents a tissue-tissue coupling strategy based on penalty method to model the heterogeneous be...

This paper presents a new image morphing technique using deformable surfaces. Drawbacks of previous techniques are overcome by a physically-based approach which provides an intuitive model for a warp. A warp is derived by two deformable surfaces which specify horizontal and vertical displacements of points on an image. This paper also considers the control of transition behavior in a metamorpho...

We present a method for comparison and classii-cation of nonrigid motion using a deformable model and the associated modal dynamics. Using the solid state physics formulation, we develop the equations of motion and the analytical expressions of vibration modes of a multidimensional elastically-deformable model that we use for tracking of nonrigid features in dynamic images. Thus, nonrigid motio...

The preoperative planning of primary tumor resections in the larynx region shall be supported by a 3D visualization of the patientspecific anatomy and pathological situation. This requires a segmentation of the larynx cartilage structures from CT datasets. In our work, we apply and adapt stable 3D mass-spring models to create a 3D deformable shape model for the segmentation of the thyroid carti...

Although lots of works have been engaged in interactive and realistic rendering of translucent materials, efficient processing for deformable models remains a challenging problem. In this paper we introduce an approximate image-space approach for real-time rendering of deformable translucent models by taking account of diffuse multiple sub-surface scattering. We decompose the process into two s...

In this paper, we develop an autonomous construction system in which a self-contained ground robot builds a protective barrier by means of deformable pockets (i.e., filled bags). We present a stochastic control algorithm based on two biological mechanisms (stigmergy and templates) that takes advantage of deformable pockets for autonomous construction. The control algorithm guides the robot to b...

The complex physical properties of highly deformable materials like clothes pose significant challenges for autonomous robotic manipulation systems. We present a novel visual feedback dictionary-based method 1 for manipulating deformable objects towards a desired configuration. Our approach is based on visual servoing and we use an efficient technique to extract key features from the RGB sensor...