Folding Clothes Autonomously: A Complete Pipeline
Folding Clothes Autonomously: A Complete Pipeline
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DOI：
10.1109/tro.2016.2602376
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发表时间：
2016-12-01
影响因子：
7.8
通讯作者：
Malassiotis, Sotiris
中科院分区：
文献类型：
--
作者：
Doumanoglou, Andreas;Stria, Jan;Malassiotis, Sotiris
这项工作提出了一个使用双臂机器人折叠一堆衣物的完整流程。从机器视觉和机器人操作的角度来看，这都是一项具有挑战性的任务。所提出的流程由以下部分组成：从一堆皱巴巴的衣物中分离并拿起一件单品，识别其类别，通过在空中进行的一系列操作展开衣物，将衣物大致平整地放置在工作台上，展开它，最后分几步折叠它。利用颜色和纹理信息将衣物堆分割成单独的衣物，并根据从深度图计算出的特征选择理想的抓取点。悬挂衣物的识别和展开是以主动的方式进行的，利用主动随机森林框架来检测抓取点，同时优化机器人的动作。展开过程基于对衣物轮廓变形的检测。折叠的感知是通过将多边形模型拟合到所观察到的已展开和已部分折叠的衣物轮廓上实现的。我们对整个流程进行了多次实验，取得了非常有前景的结果。据我们所知，这是第一项针对包括T恤、毛巾和短裤在内的各种衣物的完整展开和折叠流程的工作。
This work presents a complete pipeline for folding a pile of clothes using a dual-armed robot. This is a challenging task both from the viewpoint of machine vision and robotic manipulation. The presented pipeline is comprised of the following parts: isolating and picking up a single garment from a pile of crumpled garments, recognizing its category, unfolding the garment using a series of manipulations performed in the air, placing the garment roughly flat on a work table, spreading it, and, finally, folding it in several steps. The pile is segmented into separate garments using color and texture information, and the ideal grasping point is selected based on the features computed from a depth map. The recognition and unfolding of the hanging garment are performed in an active manner, utilizing the framework of active random forests to detect grasp points, while optimizing the robot actions. The spreading procedure is based on the detection of deformations of the garment's contour. The perception for folding employs fitting of polygonal models to the contour of the observed garment, both spread and already partially folded. We have conducted several experiments on the full pipeline producing very promising results. To our knowledge, this is the first work addressing the complete unfolding and folding pipeline on a variety of garments, including T-shirts, towels, and shorts.