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

The result's identifiers

  • 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>

Alternative languages

  • 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

Classification

  • Type

    D - Article in proceedings

  • CEP classification

  • OECD FORD branch

    20204 - Robotics and automatic control

Result continuities

  • 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

Others

  • Publication year

    2017

  • Confidentiality

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

Data specific for result type

  • 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