estevez2016towards-poster
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Poster corresponding to "Towards Robotic Garment Folding: A Vision Approach for Fold Detection", http://roboticslab.uc3m.es/roboticslab/conference/towards-robotic-garment-folding-vision-approach-fold-detection
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![ABSTRACT
D. ESTEVEZ, J. G. VICTORES and C. BALAGUER
RoboticsLab, University Carlos III of Madrid, Spain
{destevez, jcgvicto, balaguer}@ing.uc3m.es
TOWARDS ROBOTIC GARMENT FOLDING:
A VISION APPROACH FOR FOLD DETECTION
Folding clothes is a current trend in robotics. Previously to folding clothes, they have to be unfolded. It is not realistic to perform model-based unfolding, as every
garment has a different shape, size, color, texture, etc. In this paper we present a garment-agnostic algorithm to unfold clothes that works using 3D sensor
information. The depth information provided by the sensor is converted into a grayscale image. This image is segmented using watershed algorithm. This
algorithm provide us with labeled regions, each having a different height. In this labeled image, we assume that the highest height region belongs to the fold.
Starting on this region, and ending in the garment border, tentative paths are created in several directions to analyze the height profile. For each profile, a
bumpiness value is computed, and the lowest one is selected as the unfolding direction. A final extension on this line is performed to create a pick point on the
fold border, and a place point outside the garment. The proposed algorithm is tested with a small set of clothes in different positions.
STAGE 1: Background Extraction and Contour Detection
STAGE 2: Heightmap Analysis
STAGE 3: Path Detection STAGE 4: Pick and Place Points
Possible Paths
0 50 100 150 200 250 300
0
50
100
150
200
Height Profile
0 50 100 150 200 250 300 350
0
50
100
150
200
0 10 20 30 40 50 60 70 80
0
5
10
15
20
25
30
35
40
45
0 10 20 30 40 50
0
10
20
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50
60
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80
0 20 40 60 80 100 120 140 160
0
20
40
60
80
100
120
140
Normalized
Depth
Distance from Highest Region Centroid
Normalized
Depth
Normalized
Depth
Normalized
Depth
Normalized
Depth
References
[1] S. Miller, M. Fritz, T. Darrell, and P. Abbeel, “Parametrized shape models for
clothing,” ICRA 2011, pp. 4861–4868.
[2] M. Cusumano-Towner, A. Singh, S. Miller, J. F. O’Brien, and P. Abbeel, “Bringing
clothing into desired configurations with limited perception", ICRA 2011, pp.
3893–3900.
[3] A. Doumanoglou, A. Kargakos, T.-K. Kim, and S. Malassiotis, “Autonomous
active recognition and unfolding of clothes using randomdecision forests and
probabilistic planning”, ICRA 2014, pp. 987–993](https://image.slidesharecdn.com/estevez2016towards-poster-161128110040/85/estevez2016towards-poster-1-320.jpg)
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Project on spirality SUPERVISING TEACHER Md. Emdad Sarker Lecturer, Departme...
Project on spirality SUPERVISING TEACHER Md. Emdad Sarker Lecturer, Departme...Bangladesh University of Textiles (BUTEX)
This document summarizes a student project on analyzing the effects of different parameters on spirality in single jersey knitted fabrics. The students measured spirality in fabrics produced under varying machine settings, yarn properties, and fabric constructions. Their results showed that spirality increases with stitch length, yarn count, and the product of count and stitch length. Spirality decreases with higher fabric GSM and tighter fabric construction as measured by tightness factor. Equations were also presented from previous research relating spirality to twist factor, tightness factor, and stitch length.Digital_Image_Correlation
Digital Image Correlation (DIC) is a non-contact technique that uses cameras to measure surface deformation in 2D or 3D. It was developed in the 1980s and has since revolutionized mechanical testing. DIC provides more comprehensive analysis than traditional methods by measuring full-field deformation over entire sample surfaces. It can be used across industries from medical implants to aircraft wings to transform design, validation, and testing methods.
Similar to estevez2016towards-poster (20)
The study of pattern auto generation system based on silk fabric properties
The study of pattern auto generation system based on silk fabric properties
USING SPECTRAL ESTIMATION TECHNIQUE AND ROUGH SET CLASSIFIER OF REGULAR PATTE...
USING SPECTRAL ESTIMATION TECHNIQUE AND ROUGH SET CLASSIFIER OF REGULAR PATTE...
005 characterization-of-yarn-diameter-measured-on-different
005 characterization-of-yarn-diameter-measured-on-different
International Journal of Computational Engineering Research(IJCER)
International Journal of Computational Engineering Research(IJCER)
Effect of count and stitch length on spirality of single jersey knit fabric
Effect of count and stitch length on spirality of single jersey knit fabric
Effect of count and stitch length on spirality of single jersey knit fabric
Effect of count and stitch length on spirality of single jersey knit fabric
Contour-based Pedestrian Detection with Foreground Distribution Trend Filteri...
Contour-based Pedestrian Detection with Foreground Distribution Trend Filteri...
A system of clothes matching for visually impaired persons
A system of clothes matching for visually impaired persons
Project on spirality SUPERVISING TEACHER Md. Emdad Sarker Lecturer, Departme...
Project on spirality SUPERVISING TEACHER Md. Emdad Sarker Lecturer, Departme...
More from Juan G. Victores
victores2017xgnitive-techfest-presentation
Presentation corresponding to "XGNITIVE: Avances hacia la generalización avanzada de acciones y sistemas de imaginación en robótica". Technology Festival (Techfest). Universidad Rey Juan Carlos (URJC). 2017. https://www.eventbrite.es/e/registro-technology-festival-urjc-2017-28838850779?aff=es2#
victores2013semantic-presentation
The document discusses methods for inferring parameters of semantic actions through machine learning. It compares the arithmetic mean, neural networks, Gaussian mixture models, and support vector regression for predicting the displacement and rotation of actions like moving and rotating from semantic classifications. The arithmetic mean provided fast and accurate results while the neural network was more biologically inspired. Gaussian mixture models offered precision with flexibility in distributions while support vector regression required further study to realize its full potential.
victores2013towards-presentation
Presentation corresponding to "Towards Robot Imagination Through Object Feature Inference", http://dx.doi.org/10.1109/IROS.2013.6697181
morante2014on-presentation
Presentation corresponding to "On Using Guided Motor Primitives to Execute Continuous Goal-Directed Actions", http://dx.doi.org/10.1109/ROMAN.2014.6926320
morante2014action-presentation
The document proposes a method called Continuous Goal-Directed Actions (CGDA) to teach tasks to robots by learning actions from their consequences in the environment. CGDA focuses on tracking changes to objects in the environment caused by an action over time. The document describes how CGDA can generalize actions, recognize actions from sensor data, and enable robots to execute actions. It presents results of CGDA recognizing and executing different actions, like moving and rotating objects, and discusses conclusions and ideas for future work, such as handling more objects and testing in real-world environments.
victores2014thesis-presentation
Presentation corresponding to "Robot Imagination System", http://e-archivo.uc3m.es/handle/10016/19834
More from Juan G. Victores (6)
Recently uploaded
Evidence of Jet Activity from the Secondary Black Hole in the OJ 287 Binary S...
Wereport the study of a huge optical intraday flare on 2021 November 12 at 2 a.m. UT in the blazar OJ287. In the binary black hole model, it is associated with an impact of the secondary black hole on the accretion disk of the primary. Our multifrequency observing campaign was set up to search for such a signature of the impact based on a prediction made 8 yr earlier. The first I-band results of the flare have already been reported by Kishore et al. (2024). Here we combine these data with our monitoring in the R-band. There is a big change in the R–I spectral index by 1.0 ±0.1 between the normal background and the flare, suggesting a new component of radiation. The polarization variation during the rise of the flare suggests the same. The limits on the source size place it most reasonably in the jet of the secondary BH. We then ask why we have not seen this phenomenon before. We show that OJ287 was never before observed with sufficient sensitivity on the night when the flare should have happened according to the binary model. We also study the probability that this flare is just an oversized example of intraday variability using the Krakow data set of intense monitoring between 2015 and 2023. We find that the occurrence of a flare of this size and rapidity is unlikely. In machine-readable Tables 1 and 2, we give the full orbit-linked historical light curve of OJ287 as well as the dense monitoring sample of Krakow.
Candidate young stellar objects in the S-cluster: Kinematic analysis of a sub...
Context. The observation of several L-band emission sources in the S cluster has led to a rich discussion of their nature. However, a definitive answer to the classification of the dusty objects requires an explanation for the detection of compact Doppler-shifted Brγ emission. The ionized hydrogen in combination with the observation of mid-infrared L-band continuum emission suggests that most of these sources are embedded in a dusty envelope. These embedded sources are part of the S-cluster, and their relationship to the S-stars is still under debate. To date, the question of the origin of these two populations has been vague, although all explanations favor migration processes for the individual cluster members. Aims. This work revisits the S-cluster and its dusty members orbiting the supermassive black hole SgrA* on bound Keplerian orbits from a kinematic perspective. The aim is to explore the Keplerian parameters for patterns that might imply a nonrandom distribution of the sample. Additionally, various analytical aspects are considered to address the nature of the dusty sources. Methods. Based on the photometric analysis, we estimated the individual H−K and K−L colors for the source sample and compared the results to known cluster members. The classification revealed a noticeable contrast between the S-stars and the dusty sources. To fit the flux-density distribution, we utilized the radiative transfer code HYPERION and implemented a young stellar object Class I model. We obtained the position angle from the Keplerian fit results; additionally, we analyzed the distribution of the inclinations and the longitudes of the ascending node. Results. The colors of the dusty sources suggest a stellar nature consistent with the spectral energy distribution in the near and midinfrared domains. Furthermore, the evaporation timescales of dusty and gaseous clumps in the vicinity of SgrA* are much shorter ( 2yr) than the epochs covered by the observations (≈15yr). In addition to the strong evidence for the stellar classification of the D-sources, we also find a clear disk-like pattern following the arrangements of S-stars proposed in the literature. Furthermore, we find a global intrinsic inclination for all dusty sources of 60 ± 20◦, implying a common formation process. Conclusions. The pattern of the dusty sources manifested in the distribution of the position angles, inclinations, and longitudes of the ascending node strongly suggests two different scenarios: the main-sequence stars and the dusty stellar S-cluster sources share a common formation history or migrated with a similar formation channel in the vicinity of SgrA*. Alternatively, the gravitational influence of SgrA* in combination with a massive perturber, such as a putative intermediate mass black hole in the IRS 13 cluster, forces the dusty objects and S-stars to follow a particular orbital arrangement. Key words. stars: black holes– stars: formation– Galaxy: center– galaxies: star formation
Explainable Deepfake Image/Video Detection
Presentation of our paper, "Towards Quantitative Evaluation of Explainable AI Methods for Deepfake Detection", by K. Tsigos, E. Apostolidis, S. Baxevanakis, S. Papadopoulos, V. Mezaris. Presented at the ACM Int. Workshop on Multimedia AI against Disinformation (MAD’24) of the ACM Int. Conf. on Multimedia Retrieval (ICMR’24), Thailand, June 2024. https://doi.org/10.1145/3643491.3660292 https://arxiv.org/abs/2404.18649
Software available at https://github.com/IDT-ITI/XAI-Deepfakes
JAMES WEBB STUDY THE MASSIVE BLACK HOLE SEEDS
The pathway(s) to seeding the massive black holes (MBHs) that exist at the heart of galaxies in the present and distant Universe remains an unsolved problem. Here we categorise, describe and quantitatively discuss the formation pathways of both light and heavy seeds. We emphasise that the most recent computational models suggest that rather than a bimodal-like mass spectrum between light and heavy seeds with light at one end and heavy at the other that instead a continuum exists. Light seeds being more ubiquitous and the heavier seeds becoming less and less abundant due the rarer environmental conditions required for their formation. We therefore examine the different mechanisms that give rise to different seed mass spectrums. We show how and why the mechanisms that produce the heaviest seeds are also among the rarest events in the Universe and are hence extremely unlikely to be the seeds for the vast majority of the MBH population. We quantify, within the limits of the current large uncertainties in the seeding processes, the expected number densities of the seed mass spectrum. We argue that light seeds must be at least 103 to 105 times more numerous than heavy seeds to explain the MBH population as a whole. Based on our current understanding of the seed population this makes heavy seeds (Mseed > 103 M⊙) a significantly more likely pathway given that heavy seeds have an abundance pattern than is close to and likely in excess of 10−4 compared to light seeds. Finally, we examine the current state-of-the-art in numerical calculations and recent observations and plot a path forward for near-future advances in both domains.
Farming systems analysis: what have we learnt?.pptx
Presentation given at the official farewell of Prof Ken Gillet at Wageningen on 13 June 2024
Compositions of iron-meteorite parent bodies constrainthe structure of the pr...
Magmatic iron-meteorite parent bodies are the earliest planetesimals in the Solar System,and they preserve information about conditions and planet-forming processes in thesolar nebula. In this study, we include comprehensive elemental compositions andfractional-crystallization modeling for iron meteorites from the cores of five differenti-ated asteroids from the inner Solar System. Together with previous results of metalliccores from the outer Solar System, we conclude that asteroidal cores from the outerSolar System have smaller sizes, elevated siderophile-element abundances, and simplercrystallization processes than those from the inner Solar System. These differences arerelated to the formation locations of the parent asteroids because the solar protoplane-tary disk varied in redox conditions, elemental distributions, and dynamics at differentheliocentric distances. Using highly siderophile-element data from iron meteorites, wereconstruct the distribution of calcium-aluminum-rich inclusions (CAIs) across theprotoplanetary disk within the first million years of Solar-System history. CAIs, the firstsolids to condense in the Solar System, formed close to the Sun. They were, however,concentrated within the outer disk and depleted within the inner disk. Future modelsof the structure and evolution of the protoplanetary disk should account for this dis-tribution pattern of CAIs.
Post translation modification by Suyash Garg
overview of PTM helps to the students who wants to clear their basics about it.
Gadgets for management of stored product pests_Dr.UPR.pdf
Insectsplayamajorroleinthedeteriorationoffoodgrainscausingbothquantitativeandqualitativelosses
Wellprovedthatnogranariescanbefilledwithgrainswithoutinsectsastheharvestedproducecontainegg(or)larvae(or)pupae(or)adultinsectinthembecauseoffieldcarryoverinfestationwhichcannotbeavoidedindevelopingcountrieslikeIndia
Simpletechnologiesfortimelydetectionofinsectsinthestoredproduceandtherebyplantimelycontrolmeasures
BIRDS DIVERSITY OF SOOTEA BISWANATH ASSAM.ppt.pptx
Ahota Beel, nestled in Sootea Biswanath Assam , is celebrated for its extraordinary diversity of bird species. This wetland sanctuary supports a myriad of avian residents and migrants alike. Visitors can admire the elegant flights of migratory species such as the Northern Pintail and Eurasian Wigeon, alongside resident birds including the Asian Openbill and Pheasant-tailed Jacana. With its tranquil scenery and varied habitats, Ahota Beel offers a perfect haven for birdwatchers to appreciate and study the vibrant birdlife that thrives in this natural refuge.
Evaluation and Identification of J'BaFofi the Giant Spider of Congo and Moke...
ABSTRACT
The J'BaFofi, or "Giant Spider," is a mainly legendary arachnid by reportedly inhabiting the dense rain forests of
the Congo. As despite numerous anecdotal accounts and cultural references, the scientific validation remains more elusive.
My study aims to proper evaluate the existence of the J'BaFofi through the analysis of historical reports,indigenous
testimonies and modern exploration efforts.
Signatures of wave erosion in Titan’s coasts
The shorelines of Titan’s hydrocarbon seas trace flooded erosional landforms such as river valleys; however, it isunclear whether coastal erosion has subsequently altered these shorelines. Spacecraft observations and theo-retical models suggest that wind may cause waves to form on Titan’s seas, potentially driving coastal erosion,but the observational evidence of waves is indirect, and the processes affecting shoreline evolution on Titanremain unknown. No widely accepted framework exists for using shoreline morphology to quantitatively dis-cern coastal erosion mechanisms, even on Earth, where the dominant mechanisms are known. We combinelandscape evolution models with measurements of shoreline shape on Earth to characterize how differentcoastal erosion mechanisms affect shoreline morphology. Applying this framework to Titan, we find that theshorelines of Titan’s seas are most consistent with flooded landscapes that subsequently have been eroded bywaves, rather than a uniform erosional process or no coastal erosion, particularly if wave growth saturates atfetch lengths of tens of kilometers.
Call Girls Noida🔥9873777170🔥Gorgeous Escorts in Noida Available 24/7
Call Girls Noida🔥9873777170🔥Gorgeous Escorts in Noida Available 24/7
Sexuality - Issues, Attitude and Behaviour - Applied Social Psychology - Psyc...
A proprietary approach developed by bringing together the best of learning theories from Psychology, design principles from the world of visualization, and pedagogical methods from over a decade of training experience, that enables you to: Learn better, faster!
Recently uploaded (20)
Evidence of Jet Activity from the Secondary Black Hole in the OJ 287 Binary S...
Evidence of Jet Activity from the Secondary Black Hole in the OJ 287 Binary S...
Candidate young stellar objects in the S-cluster: Kinematic analysis of a sub...
Candidate young stellar objects in the S-cluster: Kinematic analysis of a sub...
Farming systems analysis: what have we learnt?.pptx
Farming systems analysis: what have we learnt?.pptx
Compositions of iron-meteorite parent bodies constrainthe structure of the pr...
Compositions of iron-meteorite parent bodies constrainthe structure of the pr...
Gadgets for management of stored product pests_Dr.UPR.pdf
Gadgets for management of stored product pests_Dr.UPR.pdf
BIRDS DIVERSITY OF SOOTEA BISWANATH ASSAM.ppt.pptx
BIRDS DIVERSITY OF SOOTEA BISWANATH ASSAM.ppt.pptx
Evaluation and Identification of J'BaFofi the Giant Spider of Congo and Moke...
Evaluation and Identification of J'BaFofi the Giant Spider of Congo and Moke...
Call Girls Noida🔥9873777170🔥Gorgeous Escorts in Noida Available 24/7
Call Girls Noida🔥9873777170🔥Gorgeous Escorts in Noida Available 24/7
acanthocytes_causes_etiology_clinical sognificance-future.pptx
acanthocytes_causes_etiology_clinical sognificance-future.pptx
Sexuality - Issues, Attitude and Behaviour - Applied Social Psychology - Psyc...
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estevez2016towards-poster
- 1. ABSTRACT D. ESTEVEZ, J. G. VICTORES and C. BALAGUER RoboticsLab, University Carlos III of Madrid, Spain {destevez, jcgvicto, balaguer}@ing.uc3m.es TOWARDS ROBOTIC GARMENT FOLDING: A VISION APPROACH FOR FOLD DETECTION Folding clothes is a current trend in robotics. Previously to folding clothes, they have to be unfolded. It is not realistic to perform model-based unfolding, as every garment has a different shape, size, color, texture, etc. In this paper we present a garment-agnostic algorithm to unfold clothes that works using 3D sensor information. The depth information provided by the sensor is converted into a grayscale image. This image is segmented using watershed algorithm. This algorithm provide us with labeled regions, each having a different height. In this labeled image, we assume that the highest height region belongs to the fold. Starting on this region, and ending in the garment border, tentative paths are created in several directions to analyze the height profile. For each profile, a bumpiness value is computed, and the lowest one is selected as the unfolding direction. A final extension on this line is performed to create a pick point on the fold border, and a place point outside the garment. The proposed algorithm is tested with a small set of clothes in different positions. STAGE 1: Background Extraction and Contour Detection STAGE 2: Heightmap Analysis STAGE 3: Path Detection STAGE 4: Pick and Place Points Possible Paths 0 50 100 150 200 250 300 0 50 100 150 200 Height Profile 0 50 100 150 200 250 300 350 0 50 100 150 200 0 10 20 30 40 50 60 70 80 0 5 10 15 20 25 30 35 40 45 0 10 20 30 40 50 0 10 20 30 40 50 60 70 80 0 20 40 60 80 100 120 140 160 0 20 40 60 80 100 120 140 Normalized Depth Distance from Highest Region Centroid Normalized Depth Normalized Depth Normalized Depth Normalized Depth References [1] S. Miller, M. Fritz, T. Darrell, and P. Abbeel, “Parametrized shape models for clothing,” ICRA 2011, pp. 4861–4868. [2] M. Cusumano-Towner, A. Singh, S. Miller, J. F. O’Brien, and P. Abbeel, “Bringing clothing into desired configurations with limited perception", ICRA 2011, pp. 3893–3900. [3] A. Doumanoglou, A. Kargakos, T.-K. Kim, and S. Malassiotis, “Autonomous active recognition and unfolding of clothes using randomdecision forests and probabilistic planning”, ICRA 2014, pp. 987–993