Now showing items 1-7 of 7

  • Active perception of deformable objects using 3D cameras 

    Alenyà Ribas, Guillem; Moreno-Noguer, Francesc; Ramisa Ayats, Arnau; Torras, Carme (Escuela Superior de Ingenieros de la Universidad de Sevilla, 2011)
    Conference report
    Open Access
    Perception and manipulation of rigid objects has received a lot of attention, and several solutions have been proposed. In contrast, dealing with deformable objects is a relatively new and challenging task because they ...
  • Characterization of textile grasping experiments 

    Alenyà Ribas, Guillem; Ramisa Ayats, Arnau; Moreno-Noguer, Francesc; Torras, Carme (2012)
    Conference report
    Open Access
    Grasping highly deformable objects, like textiles, is an emerging area of research that involves both percep- tion and manipulation abilities. As new techniques appear, it becomes essential to design strategies to compare ...
  • Determining where to grasp cloth using depth information 

    Ramisa Ayats, Arnau; Alenyà Ribas, Guillem; Moreno-Noguer, Francesc; Torras, Carme (IOS Press, 2011)
    Conference report
    Open Access
    In this paper we address the problem of finding an initial good grasping point for the robotic manipulation of textile objects lying on a flat surface. Given as input a point cloud of the cloth acquired with a 3D camera, ...
  • Evaluation of three vision based object perception methods for a mobile robot 

    Ramisa Ayats, Arnau; Aldavert Miró, David; Vasudeban, Shrihari; Toledo Morales, Ricardo; López de Mantaras, Ramon (2012)
    Article
    Open Access
    This paper addresses visual object perception applied to mobile robotics. Being able to perceive household objects in unstructured environments is a key capability in order to make robots suitable to perform complex tasks ...
  • Object detection methods for robot grasping: Experimental assessment and tuning 

    Rigual Aparici, Ferran; Ramisa Ayats, Arnau; Alenyà Ribas, Guillem; Torras, Carme (IOS Press, 2012)
    Conference report
    Open Access
    In this work we address the problem of object detection for the purpose of object manipulation in a service robotics scenario. Several implementations of state-of-the-art object detection methods were tested, and the one ...
  • Single image 3D human pose estimation from noisy observations 

    Simo Serra, Edgar; Ramisa Ayats, Arnau; Alenyà Ribas, Guillem; Torras, Carme; Moreno-Noguer, Francesc (2012)
    Conference report
    Open Access
    Markerless 3D human pose detection from a single image is a severely underconstrained problem because different 3D poses can have similar image projections. In order to handle this ambiguity, current approaches rely on ...
  • Using depth and appearance features for informed robot grasping of highly wrinkled clothes 

    Ramisa Ayats, Arnau; Alenyà Ribas, Guillem; Moreno-Noguer, Francesc; Torras, Carme (IEEE, 2012)
    Conference report
    Open Access
    Detecting grasping points is a key problem in cloth manipulation. Most current approaches follow a multiple regrasp strategy for this purpose, in which clothes are sequentially grasped from different points until one of ...