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A 3D descriptor to detect task-oriented grasping points in clothing

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10.1016/j.patcog.2016.07.003
 
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hdl:2117/104407

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Ramisa Ayats, Arnau
Alenyà Ribas, GuillemMés informacióMés informacióMés informació
Moreno-Noguer, FrancescMés informació
Torras, CarmeMés informacióMés informacióMés informació
Document typeArticle
Defense date2016
Rights accessOpen Access
Attribution-NonCommercial-NoDerivs 3.0 Spain
Except where otherwise noted, content on this work is licensed under a Creative Commons license : Attribution-NonCommercial-NoDerivs 3.0 Spain
ProjectINTELLACT - Intelligent observation and execution of Actions and manipulations (EC-FP7-269959)
Abstract
Manipulating textile objects with a robot is a challenging task, especially because the garment perception is difficult due to the endless configurations it can adopt, coupled with a large variety of colors and designs. Most current approaches follow a multiple re-grasp strategy, in which clothes are sequentially grasped from different points until one of them yields a recognizable configuration. In this work we propose a method that combines 3D and appearance information to directly select a suitable grasping point for the task at hand, which in our case consists of hanging a shirt or a polo shirt from a hook. Our method follows a coarse-to-fine approach in which, first, the collar of the garment is detected and, next, a grasping point on the lapel is chosen using a novel 3D descriptor. In contrast to current 3D descriptors, ours can run in real time, even when it needs to be densely computed over the input image. Our central idea is to take advantage of the structured nature of range images that most depth sensors provide and, by exploiting integral imaging, achieve speed-ups of two orders of magnitude with respect to competing approaches, while maintaining performance. This makes it especially adequate for robotic applications as we thoroughly demonstrate in the experimental section.
Description
© 2016. This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/
CitationRamisa , A., Alenyà, G., Moreno-Noguer, F., Torras, C. A 3D descriptor to detect task-oriented grasping points in clothing. "Pattern recognition", 2016, vol. 60, p. 936-948. 
URIhttp://hdl.handle.net/2117/104407
DOI10.1016/j.patcog.2016.07.003
ISSN0031-3203
Publisher versionhttp://www.sciencedirect.com/science/article/pii/S0031320316301558
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  • ROBiri - Grup de Robòtica de l'IRI - Articles de revista [146]
  • IRI - Institut de Robòtica i Informàtica Industrial, CSIC-UPC - Articles de revista [290]
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