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...

Contact mechanics plays an important role in the design, performance analysis, simulation, and control of legged robots. The Hunt–Crossley model and the Coulomb friction model are often used as black-box models with limited consideration of the properties of the terrain and the feet. This paper analyzes the foot–terrain interaction based on the knowledge of terramechanics and reveals the relati...

Human can handle a deformable object and damp its vibration with recognized skill. However, for an industrial robot, handling a deformable object with acute vibration is often a difficult task. This paper addresses the problem of active damping skill for handling deformable linear objects (DLOs) by using a strategy inspired from human manipulation skills. The strategy is illustrated by several ...

We present a swept source optical coherence tomography (OCT) system at 1060 nm equipped with a wavefront sensor at 830 nm and a deformable mirror in a closed-loop adaptive optics (AO) system. Due to the AO correction, the confocal profile of the interface optics becomes narrower than the OCT axial range, restricting the part of the B-scan (cross section) with good contrast. By actuating on the ...

We propose a novel deformable model with statistical and deterministic components for LV segmentation in cardiac magnetic resonance (MR) cine images. The statistical deformable component learns a global reference model of the LV using Principal Component Analysis (PCA) while the deterministic deformable component consists of a finite-element deformable surface superimposed on the reference mode...

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...

In traditional shape-based deformable models, the external image forces come primarily from edge or gradient information. Such reliance on edge information, however, makes the models prone to get stuck in local minima due to image noise and various other image artifacts. Integrating region statistics constraints has been a centerpiece of the efforts toward more robust, well-behaved deformable m...

Deformable objects have changeable shapes and they require a different method of matching algorithm compared to rigid objects. This paper proposes a fast and robust deformable object matching algorithm. First, robust feature points are selected using a statistical characteristic to obtain the feature points with the extraction method. Next, matching pairs are composed by the feature point match...

In this paper, we propose solutions to real time simulation and interaction of deformable objects in virtual reality. Firstly, we present LEM Long Element Method, a method created for physically based simulation of deformable objects. LEM has been conceived specially for objects filled with fluids. Using Pascal’s Principle and volume conservation, the method produces a static solution for globa...