24,418 research outputs found

    Single-Shot Clothing Category Recognition in Free-Configurations with Application to Autonomous Clothes Sorting

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    This paper proposes a single-shot approach for recognising clothing categories from 2.5D features. We propose two visual features, BSP (B-Spline Patch) and TSD (Topology Spatial Distances) for this task. The local BSP features are encoded by LLC (Locality-constrained Linear Coding) and fused with three different global features. Our visual feature is robust to deformable shapes and our approach is able to recognise the category of unknown clothing in unconstrained and random configurations. We integrated the category recognition pipeline with a stereo vision system, clothing instance detection, and dual-arm manipulators to achieve an autonomous sorting system. To verify the performance of our proposed method, we build a high-resolution RGBD clothing dataset of 50 clothing items of 5 categories sampled in random configurations (a total of 2,100 clothing samples). Experimental results show that our approach is able to reach 83.2\% accuracy while classifying clothing items which were previously unseen during training. This advances beyond the previous state-of-the-art by 36.2\%. Finally, we evaluate the proposed approach in an autonomous robot sorting system, in which the robot recognises a clothing item from an unconstrained pile, grasps it, and sorts it into a box according to its category. Our proposed sorting system achieves reasonable sorting success rates with single-shot perception.Comment: 9 pages, accepted by IROS201

    Discriminating small wooded elements in rural landscape from aerial photography: a hybrid pixel/object-based analysis approach

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    While small, fragmented wooded elements do not represent a large surface area in agricultural landscape, their role in the sustainability of ecological processes is recognized widely. Unfortunately, landscape ecology studies suffer from the lack of methods for automatic detection of these elements. We propose a hybrid approach using both aerial photographs and ancillary data of coarser resolution to automatically discriminate small wooded elements. First, a spectral and textural analysis is performed to identify all the planted-tree areas in the digital photograph. Secondly, an object-orientated spatial analysis using the two data sources and including a multi-resolution segmentation is applied to distinguish between large and small woods, copses, hedgerows and scattered trees. The results show the usefulness of the hybrid approach and the prospects for future ecological applications
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