Research on visual recognition of clothes in collaboration with actions

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As home and rehabilitation robots are expected to take an active role in an aged society, it becomes more important for robots to automatically handle daily necessaries including clothes. However, due to large deformability of the clothes, it is very difficult to visually recognize its shape and to obtain necessary information for automatic handling. In this research, we have developed a method of visual recognition of clothing in cooperation with actions by predicting clothing shape caused by the action and analyzing observed 3D data in a model-driven way.