Verification of recognition performance of cloth handling robot with photo-model-based matching

Khaing Win Phyu, Ryuki Funakubo, Ikegawa Fumiya, Yasutake Shinichiro, Mamoru Minami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Recently, vision-based robots have been used in the garment factories. However, deformable objects such as cloths, strings have been difficult to be recognized and handled automatically by robots. Moreover, robots have been facing with two main problems in 3D cloth recognition and handling performance. These problems are to judge that the cloth placed in front of the robot is rightly the intended one to be handled and to pick and place (handle) at a designated position automatically. In this paper, model generation method from cloth photograph and model-based matching method (recognition method) utilizing Genetic Algorithm (GA) are presented. The proposed system recognizes the target cloth and estimates the pose of that cloth for handling even though the target cloth is occluded partially and there are another cloth in the field of view of robot's camera. In this paper, 3D recognition accuracy has been confirmed experimentally by using 12 different samples cloths.

Original languageEnglish
Title of host publication2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1750-1756
Number of pages7
ISBN (Electronic)9781509067572
DOIs
Publication statusPublished - Aug 23 2017
Event14th IEEE International Conference on Mechatronics and Automation, ICMA 2017 - Takamatsu, Japan
Duration: Aug 6 2017Aug 9 2017

Other

Other14th IEEE International Conference on Mechatronics and Automation, ICMA 2017
CountryJapan
CityTakamatsu
Period8/6/178/9/17

Keywords

  • Cloth recognition
  • Genetic Algorithm
  • Model-based matching

ASJC Scopus subject areas

  • Control and Optimization
  • Instrumentation
  • Artificial Intelligence
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering

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  • Cite this

    Phyu, K. W., Funakubo, R., Fumiya, I., Shinichiro, Y., & Minami, M. (2017). Verification of recognition performance of cloth handling robot with photo-model-based matching. In 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017 (pp. 1750-1756). [8016082] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMA.2017.8016082