Recognising the Clothing Categories from Free-Configuration Using Gaussian-Process-Based Interactive Perception

Sun, L., Rogers, S. , Aragon-Camarasa, G. and Siebert, J. P. (2016) Recognising the Clothing Categories from Free-Configuration Using Gaussian-Process-Based Interactive Perception. In: IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, 16-21 May 2016, 2464 -2470. (doi:10.1109/ICRA.2016.7487399)

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Abstract

In this paper, we propose a Gaussian Process- based interactive perception approach for recognising highly- wrinkled clothes. We have integrated this recognition method within a clothes sorting pipeline for the pre-washing stage of an autonomous laundering process. Our approach differs from reported clothing manipulation approaches by allowing the robot to update its perception confidence via numerous interactions with the garments. The classifiers predominantly reported in clothing perception (e.g. SVM, Random Forest) studies do not provide true classification probabilities, due to their inherent structure. In contrast, probabilistic classifiers (of which the Gaussian Process is a popular example) are able to provide predictive probabilities. In our approach, we employ a multi-class Gaussian Process classification using the Laplace approximation for posterior inference and optimising hyper-parameters via marginal likelihood maximisation. Our experimental results show that our approach is able to recognise unknown garments from highly-occluded and wrinkled con- figurations and demonstrates a substantial improvement over non-interactive perception approaches.

Item Type:Conference Proceedings
Status:Published
Refereed:Yes
Glasgow Author(s) Enlighten ID:Siebert, Dr Jan and Rogers, Dr Simon and Sun, Mr Li and Aragon Camarasa, Dr Gerardo
Authors: Sun, L., Rogers, S., Aragon-Camarasa, G., and Siebert, J. P.
College/School:College of Science and Engineering > School of Computing Science
Research Group:Computer Vision for Autonomous Systems
Copyright Holders:Copyright © 2016 Institute of Electrical and Electronics Engineers
Publisher Policy:Reproduced in accordance with the copyright policy of the publisher

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