Garment Perception and its Folding Using a Dual-arm Robot

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Garment Perception and its Folding Using a Dual-arm Robot

Popis výsledku v původním jazyce

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

Název v anglickém jazyce

Garment Perception and its Folding Using a Dual-arm Robot

Popis výsledku anglicky

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

Druh

D - Stať ve sborníku

CEP obor

JD - Využití počítačů, robotika a její aplikace

OECD FORD obor

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Projekt

<a href="/cs/project/TE01020197" target="_blank" >TE01020197: Centrum aplikované kybernetiky 3</a><br>

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2014

Kód důvěrnosti údajů

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

Název statě ve sborníku

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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Počet stran výsledku

7

Strana od-do

61-67

Název nakladatele

IEEE Computer Society Press

Místo vydání

Los Alamitos

Místo konání akce

Chicago, Illinois

Datum konání akce

14. 9. 2014

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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