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Using depth and appearance features for informed robot grasping of highly wrinkled clothes

Author
Ramisa, A.; Alenyà, G.; Moreno-Noguer, F.; Torras, C.
Type of activity
Presentation of work at congresses
Name of edition
2012 IEEE International Conference on Robotics and Automation
Date of publication
2012
Presentation's date
2012
Book of congress proceedings
Proceedings of the 2012 IEEE International Conference on Robotics and Automation
First page
1703
Last page
1708
Publisher
IEEE
DOI
https://doi.org/10.1109/ICRA.2012.6225045 Open in new window
Repository
http://hdl.handle.net/2117/17358 Open in new window
URL
http://dx.doi.org/10.1109/ICRA.2012.6225045 Open in new window
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 larg...
Citation
Ramisa, 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.
Keywords
Computer vision
Group of research
ROBiri - IRI Robotics Group
VIS - Artificial Vision and Intelligent Systems

Participants