Abstract
Human can recognize and handle (pick and place) easily the objects with a variety of different shapes, colors, sizes, and humans’ eyes are adaptable to various light environments with a certain tolerance. However, it is difficult for robots to recognize deformable objects such as cloth, string, etc., especially if an object is unique. Additionally, there have been difficulties for robots with vision sensors (cameras) to accurately detect and handle objects under various light environments. This paper proposes a cloth handling system that recognizes an unique cloth appeared in front of a robot by a photo-model-based approach. The photo-model-based approach has been adopted since the photo-model can be made at once by taking a photo of the unique cloth. In proposed cloths’ pose estimation method, a photo-model projected from 3D to 2D is used, where this system does not need defining the object’s size, shape, design, color and weight. It detects the cloth through model-based matching method and Genetic Algorithm (GA). The handling performance by the proposed method with dual-eyes cameras has been verified, revealing that the proposed system has leeway to recognize and handle the unique cloth in lighting varieties from 100 lx to 1300 lx. In addition, 3D recognition and handling accuracy have been confirmed to be practically effective by conducting the recognition/handling experiments under different light conditions.
| Original language | English |
|---|---|
| Journal | Journal of Advanced Mechanical Design, Systems and Manufacturing |
| Volume | 12 |
| Issue number | 2 |
| DOIs | |
| Publication status | Published - Jan 1 2018 |
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Keywords
- Dual-eyes cameras
- Genetic Algorithm
- Handling
- Illumination
- Photo-model-based cloth recognition
- Visual servoing
ASJC Scopus subject areas
- Mechanical Engineering
- Industrial and Manufacturing Engineering
Cite this
Verification of photo-model-based pose estimation and handling of unique clothes under illumination varieties. / Phyu, Khaing Win; Funakubo, Ryuki; Hagiwara, Ryota; Tian, Hongzhi; Minami, Mamoru.
In: Journal of Advanced Mechanical Design, Systems and Manufacturing, Vol. 12, No. 2, 01.01.2018.Research output: Contribution to journal › Article
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TY - JOUR
T1 - Verification of photo-model-based pose estimation and handling of unique clothes under illumination varieties
AU - Phyu, Khaing Win
AU - Funakubo, Ryuki
AU - Hagiwara, Ryota
AU - Tian, Hongzhi
AU - Minami, Mamoru
PY - 2018/1/1
Y1 - 2018/1/1
N2 - Human can recognize and handle (pick and place) easily the objects with a variety of different shapes, colors, sizes, and humans’ eyes are adaptable to various light environments with a certain tolerance. However, it is difficult for robots to recognize deformable objects such as cloth, string, etc., especially if an object is unique. Additionally, there have been difficulties for robots with vision sensors (cameras) to accurately detect and handle objects under various light environments. This paper proposes a cloth handling system that recognizes an unique cloth appeared in front of a robot by a photo-model-based approach. The photo-model-based approach has been adopted since the photo-model can be made at once by taking a photo of the unique cloth. In proposed cloths’ pose estimation method, a photo-model projected from 3D to 2D is used, where this system does not need defining the object’s size, shape, design, color and weight. It detects the cloth through model-based matching method and Genetic Algorithm (GA). The handling performance by the proposed method with dual-eyes cameras has been verified, revealing that the proposed system has leeway to recognize and handle the unique cloth in lighting varieties from 100 lx to 1300 lx. In addition, 3D recognition and handling accuracy have been confirmed to be practically effective by conducting the recognition/handling experiments under different light conditions.
AB - Human can recognize and handle (pick and place) easily the objects with a variety of different shapes, colors, sizes, and humans’ eyes are adaptable to various light environments with a certain tolerance. However, it is difficult for robots to recognize deformable objects such as cloth, string, etc., especially if an object is unique. Additionally, there have been difficulties for robots with vision sensors (cameras) to accurately detect and handle objects under various light environments. This paper proposes a cloth handling system that recognizes an unique cloth appeared in front of a robot by a photo-model-based approach. The photo-model-based approach has been adopted since the photo-model can be made at once by taking a photo of the unique cloth. In proposed cloths’ pose estimation method, a photo-model projected from 3D to 2D is used, where this system does not need defining the object’s size, shape, design, color and weight. It detects the cloth through model-based matching method and Genetic Algorithm (GA). The handling performance by the proposed method with dual-eyes cameras has been verified, revealing that the proposed system has leeway to recognize and handle the unique cloth in lighting varieties from 100 lx to 1300 lx. In addition, 3D recognition and handling accuracy have been confirmed to be practically effective by conducting the recognition/handling experiments under different light conditions.
KW - Dual-eyes cameras
KW - Genetic Algorithm
KW - Handling
KW - Illumination
KW - Photo-model-based cloth recognition
KW - Visual servoing
UR - http://www.scopus.com/inward/record.url?scp=85063894886&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85063894886&partnerID=8YFLogxK
U2 - 10.1299/jamdsm.2018jamdsm0047
DO - 10.1299/jamdsm.2018jamdsm0047
M3 - Article
AN - SCOPUS:85063894886
VL - 12
JO - Journal of Advanced Mechanical Design, Systems and Manufacturing
JF - Journal of Advanced Mechanical Design, Systems and Manufacturing
SN - 1881-3054
IS - 2
ER -