Picking Towels in Point Clouds
Picking clothing has always been a great challenge in laundry or textile industry automation, especially when some clothes are of the same colors, material and entangled with each other. In order to solve the problem, we present a grasp pose determination method to pick towels placed in a laundry ba...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2019-02-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/19/3/713 |
| _version_ | 1798003764168228864 |
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| author | Xiaoman Wang Xin Jiang Jie Zhao Shengfan Wang Tao Yang Yunhui Liu |
| author_facet | Xiaoman Wang Xin Jiang Jie Zhao Shengfan Wang Tao Yang Yunhui Liu |
| author_sort | Xiaoman Wang |
| collection | DOAJ |
| description | Picking clothing has always been a great challenge in laundry or textile industry automation, especially when some clothes are of the same colors, material and entangled with each other. In order to solve the problem, we present a grasp pose determination method to pick towels placed in a laundry basket or on a table. In our method, it is not needed to segment towels into independent items and the target towels are not necessarily distinguishable in color. The proposed algorithm firstly segments point clouds into several convex wrinkles, and then selects the appropriate grasp point on the candidate convex wrinkle. Moreover, we plan the grasp orientation with respect to the wrinkle which can effectively reduce the grasp failure caused by the inappropriate grasp direction. We evaluate our method on picking white towels and square towels, respectively, and achieved an average success rate of about 80%. |
| first_indexed | 2024-04-11T12:13:05Z |
| format | Article |
| id | doaj.art-93d59344d13640e786d94c6e057b649b |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T12:13:05Z |
| publishDate | 2019-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-93d59344d13640e786d94c6e057b649b2022-12-22T04:24:33ZengMDPI AGSensors1424-82202019-02-0119371310.3390/s19030713s19030713Picking Towels in Point CloudsXiaoman Wang0Xin Jiang1Jie Zhao2Shengfan Wang3Tao Yang4Yunhui Liu5Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen 518055, ChinaMechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen 518055, ChinaMechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen 518055, ChinaMechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen 518055, ChinaMechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen 518055, ChinaHarbin Institute of Technology, Harbin 150001, ChinaPicking clothing has always been a great challenge in laundry or textile industry automation, especially when some clothes are of the same colors, material and entangled with each other. In order to solve the problem, we present a grasp pose determination method to pick towels placed in a laundry basket or on a table. In our method, it is not needed to segment towels into independent items and the target towels are not necessarily distinguishable in color. The proposed algorithm firstly segments point clouds into several convex wrinkles, and then selects the appropriate grasp point on the candidate convex wrinkle. Moreover, we plan the grasp orientation with respect to the wrinkle which can effectively reduce the grasp failure caused by the inappropriate grasp direction. We evaluate our method on picking white towels and square towels, respectively, and achieved an average success rate of about 80%.https://www.mdpi.com/1424-8220/19/3/713picking towelsconvex wrinklespoint cloudsgrasp pose |
| spellingShingle | Xiaoman Wang Xin Jiang Jie Zhao Shengfan Wang Tao Yang Yunhui Liu Picking Towels in Point Clouds Sensors picking towels convex wrinkles point clouds grasp pose |
| title | Picking Towels in Point Clouds |
| title_full | Picking Towels in Point Clouds |
| title_fullStr | Picking Towels in Point Clouds |
| title_full_unstemmed | Picking Towels in Point Clouds |
| title_short | Picking Towels in Point Clouds |
| title_sort | picking towels in point clouds |
| topic | picking towels convex wrinkles point clouds grasp pose |
| url | https://www.mdpi.com/1424-8220/19/3/713 |
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