Model-Free Approach to Garments Unfolding Based on Detection of Folded Layers

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21730%2F17%3A00314237" target="_blank" >RIV/68407700:21730/17:00314237 - isvavai.cz</a>
Result on the web
<a href="http://cmp.felk.cvut.cz/~striajan/stria_iros_2017.pdf" target="_blank" >http://cmp.felk.cvut.cz/~striajan/stria_iros_2017.pdf</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/IROS.2017.8206163" target="_blank" >10.1109/IROS.2017.8206163</a>

Result language
angličtina
Original language name
Model-Free Approach to Garments Unfolding Based on Detection of Folded Layers
Original language description
The proposed work deals with robotic unfolding of a garment that has been placed flat on a table and folded over a certain axis. The algorithm combines image and depth data to detect the bottom and top (folded) layer of the garment. The detection is formulated as a labeling of the garment surface and solved in an energy minimization framework. Once the garment pose is known, several candidate folding axes are generated and used to unfold the garment virtually. The correct folding axis is selected from these candidate axes. The method does not set any constraints on the garment shape; thus it can deal with various types of garments including jackets, pants, shorts, skirts or T-shirts of any sleeve lengths. The garment is unfolded by the dual-arm robot. One arm grasps boundary of the top layer and brings it over the estimated folding axis, while the second arm is holding the bottom layer to prevent the garment from slipping. The perception procedure was tested on the annotated dataset that we are making publicly available. The experimental evaluation of the robotic manipulation is also provided.
Czech name
—
Czech description
—

Project
<a href="/en/project/EF15_003%2F0000468" target="_blank" >EF15_003/0000468: Intelligent Machine Perception</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Publication year
2017
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
IEEE International Conference on Robotics and Automation
ISBN
978-1-5386-2682-5
ISSN
2153-0858
e-ISSN
—
Number of pages
7
Pages from-to
3274-3280
Publisher name
IEEE Press
Place of publication
New York
Event location
Vancouver
Event date
Sep 24, 2017
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000426978203044

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