About: Garment Perception and its Folding Using a Dual-arm Robot

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An Entity of Type : http://linked.opendata.cz/ontology/domain/vavai/Vysledek, within Data Space : linked.opendata.cz associated with source document(s)

Attributes	Values
rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
rdfs:seeAlso	ftp://cmp.felk.cvut.cz/pub/cmp/articles/stria/Stria-Prusa-Hlavac-IROS-2014.pdf
Description	The work addresses the problem of clothing perception and manipulation by a two armed industrial robot aiming at a real-time automated folding of a piece of garment spread out on a flat surface. A complete solution combining vision sensing, garment segmentation and understanding, planning of the manipulation and its real execution on a robot is proposed. A new polygonal model of a garment is introduced. Fitting the model into a segmented garment contour is used to detect garment landmark points. It is shown how folded variants of the unfolded model can be derived automatically. Universality and usefulness of the model is demonstrated by its favorable performance within the whole folding procedure which is applicable to a variety of garments categories (towel, pants, shirt, etc.) and evaluated experimentally using the two armed robot. The principal novelty with respect to the state of the art is in the new garment polygonal model and its manipulation planning algorithm which leads to the speed up by two orders of magnitude. The work addresses the problem of clothing perception and manipulation by a two armed industrial robot aiming at a real-time automated folding of a piece of garment spread out on a flat surface. A complete solution combining vision sensing, garment segmentation and understanding, planning of the manipulation and its real execution on a robot is proposed. A new polygonal model of a garment is introduced. Fitting the model into a segmented garment contour is used to detect garment landmark points. It is shown how folded variants of the unfolded model can be derived automatically. Universality and usefulness of the model is demonstrated by its favorable performance within the whole folding procedure which is applicable to a variety of garments categories (towel, pants, shirt, etc.) and evaluated experimentally using the two armed robot. The principal novelty with respect to the state of the art is in the new garment polygonal model and its manipulation planning algorithm which leads to the speed up by two orders of magnitude. (en)
Title	Garment Perception and its Folding Using a Dual-arm Robot Garment Perception and its Folding Using a Dual-arm Robot (en)
skos:prefLabel	Garment Perception and its Folding Using a Dual-arm Robot Garment Perception and its Folding Using a Dual-arm Robot (en)
skos:notation	RIV/68407700:21230/14:00223241!RIV15-MSM-21230___
http://linked.open...avai/riv/aktivita	P S
http://linked.open...avai/riv/aktivity	P(TE01020197), S
http://linked.open...vai/riv/dodaniDat	2015
http://linked.open...aciTvurceVysledku	Hlaváč, Václav Smutný, Vladimír Wagner, Libor Průša, Daniel Krsek, Pavel Stria, Jan Petrík, Vladimír
http://linked.open.../riv/druhVysledku	D - Článek ve sborníku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	České vysoké učení technické v Praze / Fakulta elektrotechnická
http://linked.open...dnocenehoVysledku	17924
http://linked.open...ai/riv/idVysledku	RIV/68407700:21230/14:00223241
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	robotics; perception; manipulation; garment; clothes (en)
http://linked.open.../riv/klicoveSlovo	garment perception robotics manipulation clothes
http://linked.open...ontrolniKodProRIV	[EC3AAAA654DD]
http://linked.open...v/mistoKonaniAkce	Chicago, Illinois
http://linked.open...i/riv/mistoVydani	Los Alamitos
http://linked.open...i/riv/nazevZdroje	Proc. IEEE/RSJ International Conference on Inteligent Robots and Systems, IROS 2014
http://linked.open...in/vavai/riv/obor	JD
http://linked.open...ichTvurcuVysledku	7 (xsd:int)
http://linked.open...cetTvurcuVysledku	7 (xsd:int)
http://linked.open...vavai/riv/projekt	Centre for Applied Cybernetics 3
http://linked.open...UplatneniVysledku	2014
http://linked.open...iv/tvurceVysledku	Hlaváč, Václav Průša, Daniel Smutný, Vladimír Krsek, Pavel Petrík, Vladimír Wagner, Libor Stria, Jan
http://linked.open...vavai/riv/typAkce	WRD - Světová
http://linked.open.../riv/zahajeniAkce	2014-09-14 (xsd:date)
issn	2153-0858
number of pages	7 (xsd:int)
http://bibframe.org/vocab/doi	10.1109/IROS.2014.6942541
http://purl.org/ne...btex#hasPublisher	IEEE Computer Society Press
https://schema.org/isbn	978-1-4799-6934-0
http://localhost/t...ganizacniJednotka	21230

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