DocumentCode :
3329225
Title :
Clothes handling using visual recognition in cooperation with actions
Author :
Kita, Yasuyo ; Neo, Ee Sian ; Ueshiba, Toshio ; Kita, Nobuyuki
Author_Institution :
Nat. Inst. of Adv. Ind. Sci. & Technol. (AIST), Tsukuba, Japan
fYear :
2010
fDate :
18-22 Oct. 2010
Firstpage :
2710
Lastpage :
2715
Abstract :
In this paper, we propose a method of visual recognition in cooperation with actions for automatic handling of clothing by a robot. Difficulty in visual recognition of clothing largely depends on the observed shape of the clothing. Therefore, strategy of actively making clothing into the shape easier to recognize should be effective. First, after clothing is observed by a trinocular stereo vision system, it is checked whether the observation gives enough information to recognize the clothing shape robustly or not. If not, proper “recognition-aid” actions, such as rotating and/or spreading the clothing, are automatically planned based on the visual analysis of the current shape. After executing the planned action, the clothing is observed again to recognize. The effect of the action of spreading clothes was demonstrated through experimental results using an actual humanoid.
Keywords :
humanoid robots; materials handling; stereo image processing; automatic handling; humanoid robot; trinocular stereo vision system; visual analysis; visual recognition;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on
Conference_Location :
Taipei
ISSN :
2153-0858
Print_ISBN :
978-1-4244-6674-0
Type :
conf
DOI :
10.1109/IROS.2010.5651222
Filename :
5651222
Link To Document :
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