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Sensors 2019, 19(3), 713; https://doi.org/10.3390/s19030713

Picking Towels in Point Clouds

1
Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen 518055, China
2
Harbin Institute of Technology, Harbin 150001, China
3
Department of Mechanical Engineering, The Chinese University of Hong Kong, Hong Kong, China
*
Authors to whom correspondence should be addressed.
Received: 20 December 2018 / Revised: 31 January 2019 / Accepted: 4 February 2019 / Published: 10 February 2019
(This article belongs to the Special Issue Depth Sensors and 3D Vision)
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Abstract

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%.
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Keywords: picking towels; convex wrinkles; point clouds; grasp pose picking towels; convex wrinkles; point clouds; grasp pose
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Wang, X.; Jiang, X.; Zhao, J.; Wang, S.; Yang, T.; Liu, Y. Picking Towels in Point Clouds. Sensors 2019, 19, 713.

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