A continuous robot vision approach for predicting shapes and visually perceived weights of garments

Duan, L. and Aragon-Camarasa, G. (2022) A continuous robot vision approach for predicting shapes and visually perceived weights of garments. IEEE Robotics and Automation Letters, 7(3), pp. 7950-7957. (doi: 10.1109/lra.2022.3186747)

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Abstract

We present a continuous perception approach that learns geometric and physical similarities between garments by continuously observing a garment while a robot picks it up from a table. The aim is to capture and encode geometric and physical characteristics of a garment into a manifold where a decision can be carried out, such as predicting the garment’s shape class and its visually perceived weight. Our approach features an early stop strategy, which means that a robot does not need to observe a full video sequence of a garment being picked up from a crumpled to a hanging state to make a prediction, taking 8 seconds in average to classify garment shapes. In our experiments, we find that our approach achieves prediction accuracies of 93% for shape classification and 98.5% for predicting weights and advances state-of-art approaches in similar robotic perception tasks by 22% for shape classification.

Item Type:Articles
Keywords:Artificial Intelligence, Control and Optimization, Computer Science Applications, Computer Vision and Pattern Recognition, Mechanical Engineering, Human-Computer Interaction, Biomedical Engineering, Control and Systems Engineering
Status:Published
Refereed:Yes
Glasgow Author(s) Enlighten ID:Duan, Mr Li and Aragon Camarasa, Dr Gerardo
Authors: Duan, L., and Aragon-Camarasa, G.
College/School:College of Science and Engineering > School of Computing Science
Journal Name:IEEE Robotics and Automation Letters
Publisher:IEEE
ISSN:2377-3766
ISSN (Online):2377-3766
Published Online:27 June 2022
Copyright Holders:Copyright © 2022 IEEE
First Published:First published in IEEE Robotics and Automation Letters 7(3): 7950-7957
Publisher Policy:Reproduced in accordance with the publisher copyright policy

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