Validating DLO Models from Shape Observation

In this paper, the problem of fitting the model of deformable linear objects from the observation of the shape under the effect of known external forces like gravity is taken into account. The model of the deformable linear object is based on dynamic splines, allowing to obtain a reliable prediction of the object behavior while preserving a suitable efficiency and simplicity of the model. The object shape is measured by means of a calibrated vision system, and a fitting between the observed shape and the theoretical model is defined for validation. Experiments are executed in different conditions, showing the reliability of the proposed spline-based model.