Publication

Identifying physical properties of deformable objects by using particle filters

Charles Baur, Oussama Khatib
2008
Conference Papers

Abstract

This paper presents a new approach for estimating physical properties of deformable models from experimental measurements. In contrast to most previous work, we introduce a new method based on particle filters which identifies the different stiffness properties for spring-based models. This approach addresses some important limitations encountered with gradient descent techniques which often converge towards ill solutions or remain fixed in local minima conditions.

Official source

https://infoscience.epfl.ch/entities/publication/1c893db6-2528-478c-a095-b2b5bd62f6dd

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Charles Baur, Oussama Khatib
2008
Conference Papers

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/1c893db6-2528-478c-a095-b2b5bd62f6dd

About this result

Related concepts (24)

Condition number

In numerical analysis, the condition number of a function measures how much the output value of the function can change for a small change in the input argument. This is used to measure how sensitive a function is to changes or errors in the input, and how much error in the output results from an error in the input. Very frequently, one is solving the inverse problem: given one is solving for x, and thus the condition number of the (local) inverse must be used.

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