Multi-references shape constraint for snakes

In this research, we intend to present a new method of snakes with an invariant shape prior. We consider the general case where different templates are available and we have to choose the most suitable ones to define the shape constraint. A new external force is then proposed which is able to take into account several references at the same time with proportional weighting factors. Both a Fourier based shape alignment method and a complete and stable set of shape descriptors are used to ensure invariance and robustness of the prior knowledge to Euclidean transformations. To illustrate the efficiency of our approach, a set of experiments are applied on synthetic and real data. Promising results are obtained and commented

Robotic assembly of complex planar parts: An experimental evaluation

In this paper we present an experimental evaluation of automatic robotic assembly of complex planar parts. The torque-controlled DLR light-weight robot, equipped with an on-board camera (eye-in-hand configuration), is committed with the task of looking for given parts on a table, picking them, and inserting them inside the corresponding holes on a movable plate. Visual servoing techniques are used for fine positioning over the selected part/hole, while insertion is based on active compliance control of the robot and robust assembly planning in order to align the parts automatically with the hole. Execution of the complete task is validated through extensive experiments, and performance of humans and robot are compared in terms of overall execution time