A 3D descriptor to detect task-oriented grasping points in clothing

© 2016. This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/

Detalles Bibliográficos
Autores: Ramisa Ayats, Arnau, Alenyà Ribas, Guillem|||0000-0002-6018-154X, Moreno-Noguer, Francesc, Torras, Carme|||0000-0002-2933-398X
Tipo de recurso: artículo
Fecha de publicación:2016
País:España
Institución:Universitat Politècnica de Catalunya (UPC)
Repositorio:UPCommons. Portal del coneixement obert de la UPC
Idioma:inglés
OAI Identifier:oai:upcommons.upc.edu:2117/104407
Acceso en línea:https://hdl.handle.net/2117/104407
https://dx.doi.org/10.1016/j.patcog.2016.07.003
Access Level:acceso abierto
Palabra clave:computer vision
3D descriptor
Recognition
Detection
Grasping
Manipulation
Robotics
Classificació INSPEC::Pattern recognition::Computer vision
Àrees temàtiques de la UPC::Informàtica::Robòtica
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network_acronym_str ES
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repository_id_str
spelling A 3D descriptor to detect task-oriented grasping points in clothingRamisa Ayats, ArnauAlenyà Ribas, Guillem|||0000-0002-6018-154XMoreno-Noguer, FrancescTorras, Carme|||0000-0002-2933-398Xcomputer vision3D descriptorRecognitionDetectionGraspingManipulationRoboticsClassificació INSPEC::Pattern recognition::Computer visionÀrees temàtiques de la UPC::Informàtica::Robòtica© 2016. This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/Manipulating textile objects with a robot is a challenging task, especially because the garment perception is difficult due to the endless configurations it can adopt, coupled with a large variety of colors and designs. Most current approaches follow a multiple re-grasp strategy, in which clothes are sequentially grasped from different points until one of them yields a recognizable configuration. In this work we propose a method that combines 3D and appearance information to directly select a suitable grasping point for the task at hand, which in our case consists of hanging a shirt or a polo shirt from a hook. Our method follows a coarse-to-fine approach in which, first, the collar of the garment is detected and, next, a grasping point on the lapel is chosen using a novel 3D descriptor. In contrast to current 3D descriptors, ours can run in real time, even when it needs to be densely computed over the input image. Our central idea is to take advantage of the structured nature of range images that most depth sensors provide and, by exploiting integral imaging, achieve speed-ups of two orders of magnitude with respect to competing approaches, while maintaining performance. This makes it especially adequate for robotic applications as we thoroughly demonstrate in the experimental section.Peer Reviewed20162016-01-0120172017-05-15journal articlehttp://purl.org/coar/resource_type/c_6501AMhttp://purl.org/coar/version/c_ab4af688f83e57aainfo:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/2117/104407https://dx.doi.org/10.1016/j.patcog.2016.07.003reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)InglésengEuropean Commission http://dx.doi.org/10.13039/100011102 Seventh Framework Programme 269959 Intelligent observation and execution of Actions and manipulationsopen accesshttp://purl.org/coar/access_right/c_abf2Attribution-NonCommercial-NoDerivs 3.0 Spainhttp://creativecommons.org/licenses/by-nc-nd/3.0/es/info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/1044072026-05-27T15:37:01Z
dc.title.none.fl_str_mv A 3D descriptor to detect task-oriented grasping points in clothing
title A 3D descriptor to detect task-oriented grasping points in clothing
spellingShingle A 3D descriptor to detect task-oriented grasping points in clothing
Ramisa Ayats, Arnau
computer vision
3D descriptor
Recognition
Detection
Grasping
Manipulation
Robotics
Classificació INSPEC::Pattern recognition::Computer vision
Àrees temàtiques de la UPC::Informàtica::Robòtica
title_short A 3D descriptor to detect task-oriented grasping points in clothing
title_full A 3D descriptor to detect task-oriented grasping points in clothing
title_fullStr A 3D descriptor to detect task-oriented grasping points in clothing
title_full_unstemmed A 3D descriptor to detect task-oriented grasping points in clothing
title_sort A 3D descriptor to detect task-oriented grasping points in clothing
dc.creator.none.fl_str_mv Ramisa Ayats, Arnau
Alenyà Ribas, Guillem|||0000-0002-6018-154X
Moreno-Noguer, Francesc
Torras, Carme|||0000-0002-2933-398X
author Ramisa Ayats, Arnau
author_facet Ramisa Ayats, Arnau
Alenyà Ribas, Guillem|||0000-0002-6018-154X
Moreno-Noguer, Francesc
Torras, Carme|||0000-0002-2933-398X
author_role author
author2 Alenyà Ribas, Guillem|||0000-0002-6018-154X
Moreno-Noguer, Francesc
Torras, Carme|||0000-0002-2933-398X
author2_role author
author
author
dc.subject.none.fl_str_mv computer vision
3D descriptor
Recognition
Detection
Grasping
Manipulation
Robotics
Classificació INSPEC::Pattern recognition::Computer vision
Àrees temàtiques de la UPC::Informàtica::Robòtica
topic computer vision
3D descriptor
Recognition
Detection
Grasping
Manipulation
Robotics
Classificació INSPEC::Pattern recognition::Computer vision
Àrees temàtiques de la UPC::Informàtica::Robòtica
description © 2016. This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/
publishDate 2016
dc.date.none.fl_str_mv 2016
2016-01-01
2017
2017-05-15
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
AM
http://purl.org/coar/version/c_ab4af688f83e57aa
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/104407
https://dx.doi.org/10.1016/j.patcog.2016.07.003
url https://hdl.handle.net/2117/104407
https://dx.doi.org/10.1016/j.patcog.2016.07.003
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.relation.none.fl_str_mv European Commission http://dx.doi.org/10.13039/100011102 Seventh Framework Programme 269959 Intelligent observation and execution of Actions and manipulations
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,301603

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