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

Autor
Ramisa, A.; Alenyà, G.; Moreno-Noguer, F.; Torras, C.
Tipus d'activitat
Presentació treball a congrés
Nom de l'edició
2012 IEEE International Conference on Robotics and Automation
Any de l'edició
2012
Data de presentació
2012
Llibre d'actes
Proceedings of the 2012 IEEE International Conference on Robotics and Automation
Pàgina inicial
1703
Pàgina final
1708
Editor
IEEE
DOI
https://doi.org/10.1109/ICRA.2012.6225045 Obrir en finestra nova
Repositori
http://hdl.handle.net/2117/17358 Obrir en finestra nova
URL
http://dx.doi.org/10.1109/ICRA.2012.6225045 Obrir en finestra nova
Resum
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...
Citació
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.
Paraules clau
Computer vision
Grup de recerca
ROBiri - Grup de Robòtica de l'IRI
VIS - Visió Artificial i Sistemes Intel.ligents

Participants