Video-to-Model: Automatic Modeling of Deformable Linear Objects

Abstract:This paper presents a video-to-model framework for automatically modeling the motion of a deformable suture thread from an input video. We utilize a recently developed CBF--CLF--QP numerical model that simplifies the characterization of deformable string motion through the selection of a small number of parameters. A perception module first localizes and tracks the thread in video, producing an ordered sequence of thread nodes. The observed thread motion is then processed by a spatio-temporal CNN network that estimates the effective parameters of a structured CBF--CLF--QP model. These parameters are used to simulate the thread under a user-defined needle velocity input. Experiments using unseen thread configurations and motion demonstrate that the framework can reliably reconstruct the thread behavior from video, automatically configure the structured model, and reproduce the expected thread motion with low tracking error. The proposed approach reduces the need for manual parameter tuning and provides a step toward automatic video-based modeling of deformable linear objects.

Robotics (cs.RO); Systems and Control (eess.SY)

arXiv:2610.10039 [cs.RO]

(or arXiv:2610.10039v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2610.10039 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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