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  • ftp://cmp.felk.cvut.cz/pub/cmp/articles/stria/Stria-Prusa-Hlavac-IROS-2014.pdf
Description
  • We address the problem of recognizing a configuration of a piece of garment fairly spread out on a flat surface. We suppose that the background surface is invariant and that its color is sufficiently dissimilar from the color of a piece of garment. This assumption enables quite reliable segmentation followed by extraction of the garment contour. The contour is approximated by a polygon which is then fitted to a polygonal garment model. The model is specific for each category of garment (e.g. towel, pants, shirt) and its parameters are learned from training data. The fitting procedure is based on minimization of the energy function expressing dissimilarities between observed and expected data. The fitted model provides reliable estimation of garment landmark points which can be utilized for an automated folding using a pair of robotic arms. The proposed method was experimentally verified on a dataset of images. It was also deployed to a robot and tested in a real-time automated folding.
  • We address the problem of recognizing a configuration of a piece of garment fairly spread out on a flat surface. We suppose that the background surface is invariant and that its color is sufficiently dissimilar from the color of a piece of garment. This assumption enables quite reliable segmentation followed by extraction of the garment contour. The contour is approximated by a polygon which is then fitted to a polygonal garment model. The model is specific for each category of garment (e.g. towel, pants, shirt) and its parameters are learned from training data. The fitting procedure is based on minimization of the energy function expressing dissimilarities between observed and expected data. The fitted model provides reliable estimation of garment landmark points which can be utilized for an automated folding using a pair of robotic arms. The proposed method was experimentally verified on a dataset of images. It was also deployed to a robot and tested in a real-time automated folding. (en)
Title
  • Polygonal Models for Clothing
  • Polygonal Models for Clothing (en)
skos:prefLabel
  • Polygonal Models for Clothing
  • Polygonal Models for Clothing (en)
skos:notation
  • RIV/68407700:21230/14:00223239!RIV15-MSM-21230___
http://linked.open...avai/riv/aktivita
http://linked.open...avai/riv/aktivity
  • P(TE01020197), S
http://linked.open...vai/riv/dodaniDat
http://linked.open...aciTvurceVysledku
http://linked.open.../riv/druhVysledku
http://linked.open...iv/duvernostUdaju
http://linked.open...titaPredkladatele
http://linked.open...dnocenehoVysledku
  • 37407
http://linked.open...ai/riv/idVysledku
  • RIV/68407700:21230/14:00223239
http://linked.open...riv/jazykVysledku
http://linked.open.../riv/klicovaSlova
  • clothes folding; robotic manipulation (en)
http://linked.open.../riv/klicoveSlovo
http://linked.open...ontrolniKodProRIV
  • [D9F2C2831515]
http://linked.open...v/mistoKonaniAkce
  • Birmingham
http://linked.open...i/riv/mistoVydani
  • New York
http://linked.open...i/riv/nazevZdroje
  • Advances in Autonomous Robotics Systems, 15th Annual Conference, TAROS 2014
http://linked.open...in/vavai/riv/obor
http://linked.open...ichTvurcuVysledku
http://linked.open...cetTvurcuVysledku
http://linked.open...vavai/riv/projekt
http://linked.open...UplatneniVysledku
http://linked.open...iv/tvurceVysledku
  • Hlaváč, Václav
  • Průša, Daniel
  • Stria, Jan
http://linked.open...vavai/riv/typAkce
http://linked.open.../riv/zahajeniAkce
issn
  • 0302-9743
number of pages
http://bibframe.org/vocab/doi
  • 10.1007/978-3-319-10401-0_16
http://purl.org/ne...btex#hasPublisher
  • Springer-Verlag
https://schema.org/isbn
  • 978-3-319-10400-3
http://localhost/t...ganizacniJednotka
  • 21230
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