Publication
Determining where to grasp cloth using depth information
Conference Article
Conference
Catalan Conference on Artificial Intelligence (CCIA)
Edition
14th
Pages
199-207
Doc link
http://dx.doi.org/10.3233/978-1-60750-842-7-199
File
Abstract
In this paper we address the problem of finding an initial good grasping point for the robotic manipulation of textile objects lying on a flat surface. Given as input a point cloud of the cloth acquired with a 3D camera, we propose choosing as grasping points those that maximize a new measure of wrinkledness, computed from the distribution of normal directions over local neighborhoods. Real grasping experiments using a robotic arm are performed, showing that the proposed measure leads to promising results.
Categories
pattern recognition.
Author keywords
deformable objects, computer vision, grasping point selection
Scientific reference
A. Ramisa, G. Alenyà, F. Moreno-Noguer and C. Torras. Determining where to grasp cloth using depth information, 14th Catalan Conference on Artificial Intelligence, 2011, Lleida, in Artificial Intelligence Research and Development, Vol 232 of Frontiers in Artificial Intelligence and Applications, pp. 199-207, 2011, IOS Press.
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