Garment Perception and its Folding Using a Dual-arm Robot
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F14%3A00223241" target="_blank" >RIV/68407700:21230/14:00223241 - isvavai.cz</a>
Result on the web
<a href="http://cmp.felk.cvut.cz/pub/cmp/articles/stria/Stria-Prusa-Hlavac-IROS-2014.pdf" target="_blank" >http://cmp.felk.cvut.cz/pub/cmp/articles/stria/Stria-Prusa-Hlavac-IROS-2014.pdf</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/IROS.2014.6942541" target="_blank" >10.1109/IROS.2014.6942541</a>
Alternative languages
Result language
angličtina
Original language name
Garment Perception and its Folding Using a Dual-arm Robot
Original language description
The work addresses the problem of clothing perception and manipulation by a two armed industrial robot aiming at a real-time automated folding of a piece of garment spread out on a flat surface. A complete solution combining vision sensing, garment segmentation and understanding, planning of the manipulation and its real execution on a robot is proposed. A new polygonal model of a garment is introduced. Fitting the model into a segmented garment contour is used to detect garment landmark points. It is shown how folded variants of the unfolded model can be derived automatically. Universality and usefulness of the model is demonstrated by its favorable performance within the whole folding procedure which is applicable to a variety of garments categories(towel, pants, shirt, etc.) and evaluated experimentally using the two armed robot. The principal novelty with respect to the state of the art is in the new garment polygonal model and its manipulation planning algorithm which leads to th
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
JD - Use of computers, robotics and its application
OECD FORD branch
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Result continuities
Project
<a href="/en/project/TE01020197" target="_blank" >TE01020197: Centre for Applied Cybernetics 3</a><br>
Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2014
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proc. IEEE/RSJ International Conference on Inteligent Robots and Systems, IROS 2014
ISBN
978-1-4799-6934-0
ISSN
2153-0858
e-ISSN
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Number of pages
7
Pages from-to
61-67
Publisher name
IEEE Computer Society Press
Place of publication
Los Alamitos
Event location
Chicago, Illinois
Event date
Sep 14, 2014
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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