24,418 research outputs found
Single-Shot Clothing Category Recognition in Free-Configurations with Application to Autonomous Clothes Sorting
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
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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