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— We present a system for automatically extracting and classifying items in a pile of laundry. Using only visual sensors, the robot identifies and extracts items sequentially from the pile. When an item has been removed and isolated, a model is captured of the shape and appearance of the object, which is then compared against a database of known items. The(More)
— We present an algorithm for automatically unfolding a piece of clothing. A piece of laundry is pulled in different directions at various points of the cloth in order to flatten the laundry. The features of the cloth are extracted and calculated to determine a valid location and orientation in which to interact with it. The features include the peak(More)
— We present a novel approach for classifying items from a pile of laundry. The classification procedure exploits color, texture, shape, and edge information from 2D and 3D local and global information for each article of clothing using a Kinect sensor. The key contribution of this paper is a novel method of classifying clothing which we term L-M-H, more(More)
— We propose an algorithm that uses energy minimization to estimate the current configuration of a non-rigid object. Our approach utilizes an RGBD image to calculate corresponding SURF features, depth, and boundary information. We do not use predetermined features, thus enabling our system to operate on unmodified objects. Our approach relies on a 3D(More)
— Robotics research tends to focus upon either non-contact sensing or machine manipulation, but not both. This paper explores the benefits of combining the two by addressing the problem of classifying unknown objects, such as found in service robot applications. In the proposed approach, an object lies on a flat background, and the goal of the robot is to(More)
— We propose an algorithm, that extends our previous work, to estimate the current configuration of a non-rigid object using energy minimization and graph cuts. Our approach removes the need for feature correspondence or texture information and extends the boundary energy term. The object segmentation process is improved by using graph cuts along with a(More)
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