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Corner detection of deformable fabric using deep learning

Author
Mitjans, A.; Maceira, M.; Alenyà, G.
Type of activity
Report
Date
2020
Code
IRI-TR-20-01
Repository
http://hdl.handle.net/2117/183478 Open in new window
Abstract
Robotic manipulation of deformable objects such as a towel is one of the most challenging tasks in the field of service robotics. Their unpredictable shape and pose makes it difficult to identify the most relevant parts than can be used for grasping. In this report we design a deep neural network that finds all the visible corners of a wrinkled towel. We also create a dataset to train the network. The results obtained show that it is possible to detect the corners of a cloth, but with some const...
Citation
Mitjans, A.; Maceira, M.; Alenyà, G. "Corner detection of deformable fabric using deep learning". 2020.
Group of research
ROBiri - IRI Robotics Group

Participants