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

Author
Ramisa, A.; Alenyà, G.; Moreno-Noguer, F.; Torras, C.
Type of activity
Journal article
Journal
Pattern recognition
Date of publication
2016
Volume
60
First page
936
Last page
948
DOI
https://doi.org/10.1016/j.patcog.2016.07.003 Open in new window
Project funding
FP7-ICT2009-6-269959 - IntellAct: Intelligent observation and execution of Actions and manipulations ViSen: Visual Sense, Tagging visual data with semantic descriptions
I-DRESS: Assistive interactive robotic system for support in dressing - PCIN-2015-147
Manipulación robotizada de objetos deformables - 201350E102
RobInstruct: Instructing robots using natural communication skills - TIN2014-58178-R
Repository
http://hdl.handle.net/2117/104407 Open in new window
URL
http://www.sciencedirect.com/science/article/pii/S0031320316301558 Open in new window
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 su...
Citation
Ramisa , 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.
Keywords
Detection, Grasping, Manipulation, Recognition, Robotics, computer vision; 3D descriptor
Group of research
ROBiri - IRI Robotics Group

Participants