Visual grasp point localization, classification and state recognition in robotic manipulation of cloth: An overview

Cloth manipulation by robots is gaining popularity among researchers because of its relevance, mainly (but not only) in domestic and assistive robotics. The required science and technologies begin to be ripe for the challenges posed by the manipulation of soft materials, and many contributions have...

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Author: Jiménez Schlegl, Pablo
Format: article
Status:Versión enviada para evaluación y publicación
Publication Date:2017
Country:España
Institution:Consejo Superior de Investigaciones Científicas (CSIC)
Repository:DIGITAL.CSIC. Repositorio Institucional del CSIC
OAI Identifier:oai:digital.csic.es:10261/166458
Online Access:http://hdl.handle.net/10261/166458
Access Level:Open access
Keyword:Clothing
Cloth state recognition
Garment classification
Grasp point localization
Robotic vision
Deformable object manipulation
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spelling Visual grasp point localization, classification and state recognition in robotic manipulation of cloth: An overviewJiménez Schlegl, PabloClothingCloth state recognitionGarment classificationGrasp point localizationRobotic visionDeformable object manipulationCloth manipulation by robots is gaining popularity among researchers because of its relevance, mainly (but not only) in domestic and assistive robotics. The required science and technologies begin to be ripe for the challenges posed by the manipulation of soft materials, and many contributions have appeared in the last years. This survey provides a systematic review of existing techniques for the basic perceptual tasks of grasp point localization, state estimation and classification of cloth items, from the perspective of their manipulation by robots. This choice is grounded on the fact that any manipulative action requires to instruct the robot where to grasp, and most garment handling activities depend on the correct recognition of the type to which the particular cloth item belongs and its state. The high inter- and intraclass variability of garments, the continuous nature of the possible deformations of cloth and the evident difficulties in predicting their localization and extension on the garment piece are challenges that have encouraged the researchers to provide a plethora of methods to confront such problems, with some promising results. The present review constitutes for the first time an effort in furnishing a structured framework of these works, with the aim of helping future contributors to gain both insight and perspective on the subject.This work has been partially supported by the Spanish Ministry of Economy and Competitiveness under projects RobInstruct (TIN2014-58178-R) and I-DRESS: Assistive interactive robotic system for support in dressing (PCIN-2015-147).Peer ReviewedElsevierMinisterio de Economía y Competitividad (España)Consejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]2018201820172018info:eu-repo/semantics/articlehttp://purl.org/coar/resource_type/c_6501Preprintinfo:eu-repo/semantics/submittedVersionhttp://hdl.handle.net/10261/166458reponame:DIGITAL.CSIC. Repositorio Institucional del CSICinstname:Consejo Superior de Investigaciones Científicas (CSIC)Inglés#PLACEHOLDER_PARENT_METADATA_VALUE##PLACEHOLDER_PARENT_METADATA_VALUE#info:eu-repo/grantAgreement/MINECO/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/PCIN-2015-147info:eu-repo/grantAgreement/MINECO/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/TIN2014-58178-Rhttps://doi.org/10.1016/j.robot.2017.03.009Síinfo:eu-repo/semantics/openAccessoai:digital.csic.es:10261/1664582026-05-22T06:33:51Z
dc.title.none.fl_str_mv Visual grasp point localization, classification and state recognition in robotic manipulation of cloth: An overview
title Visual grasp point localization, classification and state recognition in robotic manipulation of cloth: An overview
spellingShingle Visual grasp point localization, classification and state recognition in robotic manipulation of cloth: An overview
Jiménez Schlegl, Pablo
Clothing
Cloth state recognition
Garment classification
Grasp point localization
Robotic vision
Deformable object manipulation
title_short Visual grasp point localization, classification and state recognition in robotic manipulation of cloth: An overview
title_full Visual grasp point localization, classification and state recognition in robotic manipulation of cloth: An overview
title_fullStr Visual grasp point localization, classification and state recognition in robotic manipulation of cloth: An overview
title_full_unstemmed Visual grasp point localization, classification and state recognition in robotic manipulation of cloth: An overview
title_sort Visual grasp point localization, classification and state recognition in robotic manipulation of cloth: An overview
dc.creator.none.fl_str_mv Jiménez Schlegl, Pablo
author Jiménez Schlegl, Pablo
author_facet Jiménez Schlegl, Pablo
author_role author
dc.contributor.none.fl_str_mv Ministerio de Economía y Competitividad (España)
Consejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]
dc.subject.none.fl_str_mv Clothing
Cloth state recognition
Garment classification
Grasp point localization
Robotic vision
Deformable object manipulation
topic Clothing
Cloth state recognition
Garment classification
Grasp point localization
Robotic vision
Deformable object manipulation
description Cloth manipulation by robots is gaining popularity among researchers because of its relevance, mainly (but not only) in domestic and assistive robotics. The required science and technologies begin to be ripe for the challenges posed by the manipulation of soft materials, and many contributions have appeared in the last years. This survey provides a systematic review of existing techniques for the basic perceptual tasks of grasp point localization, state estimation and classification of cloth items, from the perspective of their manipulation by robots. This choice is grounded on the fact that any manipulative action requires to instruct the robot where to grasp, and most garment handling activities depend on the correct recognition of the type to which the particular cloth item belongs and its state. The high inter- and intraclass variability of garments, the continuous nature of the possible deformations of cloth and the evident difficulties in predicting their localization and extension on the garment piece are challenges that have encouraged the researchers to provide a plethora of methods to confront such problems, with some promising results. The present review constitutes for the first time an effort in furnishing a structured framework of these works, with the aim of helping future contributors to gain both insight and perspective on the subject.
publishDate 2017
dc.date.none.fl_str_mv 2017
2018
2018
2018
dc.type.none.fl_str_mv info:eu-repo/semantics/article
http://purl.org/coar/resource_type/c_6501
Preprint
info:eu-repo/semantics/submittedVersion
format article
status_str submittedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/10261/166458
url http://hdl.handle.net/10261/166458
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv #PLACEHOLDER_PARENT_METADATA_VALUE#
#PLACEHOLDER_PARENT_METADATA_VALUE#
info:eu-repo/grantAgreement/MINECO/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/PCIN-2015-147
info:eu-repo/grantAgreement/MINECO/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/TIN2014-58178-R
https://doi.org/10.1016/j.robot.2017.03.009
Sí
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.publisher.none.fl_str_mv Elsevier
publisher.none.fl_str_mv Elsevier
dc.source.none.fl_str_mv reponame:DIGITAL.CSIC. Repositorio Institucional del CSIC
instname:Consejo Superior de Investigaciones Científicas (CSIC)
instname_str Consejo Superior de Investigaciones Científicas (CSIC)
reponame_str DIGITAL.CSIC. Repositorio Institucional del CSIC
collection DIGITAL.CSIC. Repositorio Institucional del CSIC
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