Using depth and appearance features for informed robot grasping of highly wrinkled clothes
Cita com:
hdl:2117/17358
Tipus de documentText en actes de congrés
Data publicació2012
EditorIEEE
Condicions d'accésAccés obert
Llevat que s'hi indiqui el contrari, els
continguts d'aquesta obra estan subjectes a la llicència de Creative Commons
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Reconeixement-NoComercial-SenseObraDerivada 3.0 Espanya
ProjecteINTELLACT - Intelligent observation and execution of Actions and manipulations (EC-FP7-269959)
Abstract
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 them yields to a
desired configuration. In this paper, by contrast, we circumvent the need for multiple re-graspings by building a robust detector that identifies the grasping points, generally in one single step,
even when clothes are highly wrinkled.
In order to handle the large variability a deformed cloth may have, we build a Bag of Features based detector that combines
appearance and 3D geometry features. An image is scanned using a sliding window with a linear classifier, and the candidate
windows are refined using a non-linear SVM and a “grasp goodness” criterion to select the best grasping point.
We demonstrate our approach detecting collars in deformed polo shirts, using a Kinect camera. Experimental results show
a good performance of the proposed method not only in identifying the same trained textile object part under severe deformations and occlusions, but also the corresponding part in other clothes, exhibiting a degree of generalization.
CitacióRamisa, A. [et al.]. Using depth and appearance features for informed robot grasping of highly wrinkled clothes. A: IEEE International Conference on Robotics and Automation. "Proceedings of the 2012 IEEE International Conference on Robotics and Automation". St. Paul - Minessota: IEEE, 2012, p. 1703-1708.
ISBNCFP12RAA-USB
Versió de l'editorhttp://dx.doi.org/10.1109/ICRA.2012.6225045
Col·leccions
- IRI - Institut de Robòtica i Informàtica Industrial, CSIC-UPC - Ponències/Comunicacions de congressos [576]
- VIS - Visió Artificial i Sistemes Intel·ligents - Ponències/Comunicacions de congressos [292]
- ROBiri - Grup de Percepció i Manipulació Robotitzada de l'IRI - Ponències/Comunicacions de congressos [252]
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