Learning RGB-D descriptors of garment parts for informed robot grasping

Robotic handling of textile objects in household environments is an emerging application that has recently received considerable attention thanks to the development of domestic robots. Most current approaches follow a multiple re-grasp strategy for this purpose, in which clothes are sequentially grasped from different points until one of them yields a desired configuration. In this work we propose a vision-based method, built on the Bag of Visual Words approach, that combines appearance and 3D information to detect parts suitable for grasping in clothes, even when they are highly wrinkled. We also contribute a new, annotated, garment part dataset that can be used for benchmarking classification, part detection, and segmentation algorithms. The dataset is used to evaluate our approach and several state-of-the-art 3D descriptors for the task of garment part detection. Results indicate that appearance is a reliable source of information, but that augmenting it with 3D information can help the method perform better with new clothing items.This research is partially funded by the Spanish Ministry of Science and Innovation under Project PAU+ DPI2011-2751, the EU Project IntellAct FP7-ICT2009-6-269959 and the ERA-Net Chistera Project ViSen PCIN-2013-047. A. Ramisa worked under the JAE-Doc grant from CSIC and FSE.Peer Reviewe

Hybrid ACO and SVM algorithm for pattern classification

Ant Colony Optimization (ACO) is a metaheuristic algorithm that can be used to solve a variety of combinatorial optimization problems. A new direction for ACO is to optimize continuous and mixed (discrete and continuous) variables. Support Vector Machine (SVM) is a pattern classification approach originated from statistical approaches. However, SVM suffers two main problems which include feature subset selection and parameter tuning. Most approaches related to tuning SVM parameters discretize the continuous value of the parameters which will give a negative effect on the classification performance. This study presents four algorithms for tuning the SVM parameters and selecting feature subset which improved SVM classification accuracy with smaller size of feature subset. This is achieved by performing the SVM parameters’ tuning and feature subset selection processes simultaneously. Hybridization algorithms between ACO and SVM techniques were proposed. The first two algorithms, ACOR-SVM and IACOR-SVM, tune the SVM parameters while the second two algorithms, ACOMV-R-SVM and IACOMV-R-SVM, tune the SVM parameters and select the feature subset simultaneously. Ten benchmark datasets from University of California, Irvine, were used in the experiments to validate the performance of the proposed algorithms. Experimental results obtained from the proposed algorithms are better when compared with other approaches in terms of classification accuracy and size of the feature subset. The average classification accuracies for the ACOR-SVM, IACOR-SVM, ACOMV-R and IACOMV-R algorithms are 94.73%, 95.86%, 97.37% and 98.1% respectively. The average size of feature subset is eight for the ACOR-SVM and IACOR-SVM algorithms and four for the ACOMV-R and IACOMV-R algorithms. This study contributes to a new direction for ACO that can deal with continuous and mixed-variable ACO

Selección de características de audio para predecir el éxito de una canción mediante técnicas de aprendizaje estadístico

Se plantean los siguientes objetivos: Determinar a través de un método no causal de clasificación, si es posible predecir (clasificar de forma predictiva) si una canción será exitosa o no. Observar, utilizando el mismo método anterior, qué características se consideran las menos relevantes para realizar dichas predicciones. Analizar de forma independiente un periodo temporal que resulte de interés, o que aporte los mejores resultados, y buscar los factores o características que determinan el éxito en ese periodo. Determinar si existen interacciones entre características y ver cómo estas afectan a las clasificaciones realizadas.Ingeniería de Sistemas Audiovisuale