Folding Clothes Autonomously: A Complete Pipeline

Kód výsledku v 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>

Nalezeny alternativní kódy

RIV/68407700:21730/16:00303563

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Folding Clothes Autonomously: A Complete Pipeline

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Folding Clothes Autonomously: A Complete Pipeline

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

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

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

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

Rok uplatnění

2016

Kód důvěrnosti údajů

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

Název periodika

IEEE Transactions on Robotics

ISSN

1552-3098

e-ISSN

1941-0468

Svazek periodika

32

Číslo periodika v rámci svazku

6

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

18

Strana od-do

1461-1478

Kód UT WoS článku

000389849700011

EID výsledku v databázi Scopus

2-s2.0-84991059625