Folding Clothes Autonomously: A Complete Pipeline

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F16%3A00303563" target="_blank" >RIV/68407700:21230/16:00303563 - isvavai.cz</a>

Alternative codes found

RIV/68407700:21730/16:00303563

Result on the web

<a href="https://doi.org/10.1109/TRO.2016.2602376" target="_blank" >https://doi.org/10.1109/TRO.2016.2602376</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/TRO.2016.2602376" target="_blank" >10.1109/TRO.2016.2602376</a>

Result language

angličtina

Original language name

Folding Clothes Autonomously: A Complete Pipeline

Original language description

This work presents a complete pipeline for folding a pile of clothes using a dual-armed robot. This is a challenging task both from the viewpoint of machine vision and robotic manipulation. The presented pipeline is comprised of the following parts: isolating and picking up a single garment from a pile of crumpled garments, recognizing its category, unfolding the garment using a series of manipulations performed in the air, placing the garment roughly flat on a work table, spreading it, and, finally, folding it in several steps. The pile is segmented into separate garments using color and texture information, and the ideal grasping point is selected based on the features computed from a depth map. The recognition and unfolding of the hanging garment are performed in an active manner, utilizing the framework of active random forests to detect grasp points, while optimizing the robot actions. The spreading procedure is based on the detection of deformations of the garment’s contour. The perception for folding employs fitting of polygonal models to the contour of the observed garment, both spread and already partially folded. We have conducted several experiments on the full pipeline producing very promising results. To our knowledge, this is the first work addressing the complete unfolding and folding pipeline on a variety of garments, including T-shirts, towels, and shorts.

Czech name

—

Czech description

—

Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

—

OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

Result was created during the realization of more than one project. More information in the Projects tab.

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2016

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

IEEE Transactions on Robotics

ISSN

1552-3098

e-ISSN

1941-0468

Volume of the periodical

32

Issue of the periodical within the volume

6

Country of publishing house

US - UNITED STATES

Number of pages

18

Pages from-to

1461-1478

UT code for WoS article

000389849700011

EID of the result in the Scopus database

2-s2.0-84991059625