Sun, L., Aragon-Camarasa, G. , Rogers, S. and Siebert, J. P. (2018) Autonomous clothes manipulation using a hierarchical vision architecture. IEEE Access, 6, pp. 76646-76662. (doi: 10.1109/ACCESS.2018.2883072)
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Abstract
This paper presents a novel robot vision architecture for perceiving generic 3D clothes configurations. Our architecture is hierarchically structured, starting from low-level curvature features, to mid-level geometric shapes and topology descriptions, and finally high-level semantic surface descriptions. We demonstrate our robot vision architecture in a customised dual-arm industrial robot with our inhouse developed stereo vision system, carrying out autonomous grasping and dual-arm flattening. The experimental results show the advanced effectiveness of the proposed dual-arm flattening using the stereo vision system compared to single-arm flattening using the widely-cited Kinect-like sensor as the baseline. In addition, the proposed grasping approach achieves satisfactory performance on grasping various kind of garments, verifying the capability of the proposed visual perception architecture to be adapted to more than one clothing manipulation tasks.
Item Type: | Articles |
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Additional Information: | This project has received funding from the European Union’s PF7 Specific targeted research projects (STREP) under grant agreement No 288553 (CloPeMa: Clothes Perception and Manipulation, http://www.clopema.eu/). |
Status: | Published |
Refereed: | Yes |
Glasgow Author(s) Enlighten ID: | Siebert, Dr Paul and Rogers, Dr Simon and Sun, Mr Li and Aragon Camarasa, Dr Gerardo |
Authors: | Sun, L., Aragon-Camarasa, G., Rogers, S., and Siebert, J. P. |
College/School: | College of Science and Engineering > School of Chemistry College of Science and Engineering > School of Computing Science |
Journal Name: | IEEE Access |
Publisher: | IEEE |
ISSN: | 2169-3536 |
ISSN (Online): | 2169-3536 |
Published Online: | 03 December 2018 |
Copyright Holders: | Copyright © 2018 IEEE |
First Published: | First published in IEEE Access 6:76646-76662 |
Publisher Policy: | Reproduced in accordance with the copyright policy of the publisher |
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