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Research on virtual flattening of clothing item using 3D data taken from different directions

Research Project

Project/Area Number 16H02885
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent robotics
Research InstitutionTokyo University of Science (2019-2020)
National Institute of Advanced Industrial Science and Technology (2016-2018)

Principal Investigator

Kita Yasuyo  東京理科大学, 理工学部電気電子情報工学科, 准教授 (00356875)

Co-Investigator(Kenkyū-buntansha) 植芝 俊夫  国立研究開発法人産業技術総合研究所, 情報・人間工学領域, 主任研究員 (20356546)
喜多 伸之  国立研究開発法人産業技術総合研究所, 知能システム研究部門, 主任研究員 (90356874)
Project Period (FY) 2016-04-01 – 2020-03-31
Project Status Completed (Fiscal Year 2020)
Budget Amount *help
¥15,860,000 (Direct Cost: ¥12,200,000、Indirect Cost: ¥3,660,000)
Fiscal Year 2019: ¥3,640,000 (Direct Cost: ¥2,800,000、Indirect Cost: ¥840,000)
Fiscal Year 2018: ¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2017: ¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000)
Fiscal Year 2016: ¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Keywordsロボットビジョン / 3次元画像処理 / 柔軟物認識 / 知能ロボティックス / 自動ハンドリング / 測地線 / 画像認識 / 知能ロボティクス / 人工知能
Outline of Final Research Achievements

It is becoming increasingly important for robots to autonomously handle daily necessities, including clothing items. The clothing item during handling is difficult to visually recognize since it is largely deformed from its canonical shape, that is, the shape when it is flattened on a plane table. In this project, we have studied methods of virtually flattening the surface of a clothing item to a two-dimensional plane using the RGB-D data (color and depth data) of it in deformed shape. By calculating geodesic distances between pairs of points on the surface of the clothing item using its depth data, the 2D distances between the pairs when the surface is flattened are estimated and used as constraints to obtain the flattened shape. The experimental results using both synthetic and real data showed a good prospective of the proposed method.

Academic Significance and Societal Importance of the Research Achievements

平面形状であることが分かっている物体の展開としては、これまでに、折り紙など、平面パーツの展開手法の研究は行われていたが、3次元空間上で凹凸形状に変形している、全体形状があらかじめ未知な対象物を、多視点からの観測データ(深度と濃淡情報)を用いて仮想展開する研究は、学術的に他に類を見ない。
本技術が開発されれば、ヒューマノイドのような汎用型のロボットを用いて少ない動作で衣類を自動的に扱うことが可能となる。家庭用介助・補助ロボットが未知の衣類や布製の日常品を自在に扱うための基礎として重要な技術であり、社会福祉的観点・ロボット産業競争力強化の観点から見ても意義がある。

Report

(5 results)
  • 2020 Final Research Report ( PDF )
  • 2019 Annual Research Report
  • 2018 Annual Research Report
  • 2017 Annual Research Report
  • 2016 Annual Research Report
  • Research Products

    (10 results)

All 2021 2019 2017 2016 Other

All Journal Article (8 results) (of which Peer Reviewed: 8 results,  Open Access: 2 results,  Acknowledgement Compliant: 2 results) Presentation (1 results) Remarks (1 results)

  • [Journal Article] Integration of Multiple RGB-D Data of a Deformed Clothing Item into Its Canonical Shape2021

    • Author(s)
      Kita Yasuyo、Matsuda Ichiro、Kita Nobuyuki
    • Journal Title

      Proceedings of the 16th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISAPP2021)

      Volume: 5 Pages: 910-918

    • DOI

      10.5220/0010228209100918

    • Related Report
      2019 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Dual edge classifier for robust cloth unfolding2021

    • Author(s)
      Gabas Antonio、Kita Yasuyo、Yoshida Eiichi
    • Journal Title

      ROBOMECH Journal

      Volume: 8 Issue: 1 Pages: 1-12

    • DOI

      10.1186/s40648-021-00202-8

    • Related Report
      2019 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Virtual Flattening of a Clothing Surface by Integrating Geodesic Distances from Different Three-dimensional Views2019

    • Author(s)
      Kita Yasuyo、Kita Nobuyuki
    • Journal Title

      Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications, VISIGRAPP 2019, VISAPP

      Volume: 5 Pages: 541-547

    • DOI

      10.5220/0007410305410547

    • Related Report
      2018 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Robot and 3D-sensor calibration using a planar part of a robot hand2017

    • Author(s)
      Yasuyo Kita, Yousuke Goi and Yoshihiro Kawai
    • Journal Title

      Proceedings of 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)

      Volume: 1 Pages: 824-829

    • DOI

      10.1109/humanoids.2017.8246967

    • Related Report
      2017 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Physical edge detection in clothing items for robotic manipulation2017

    • Author(s)
      Antonio Gabas and Yasuyo Kita
    • Journal Title

      Proceeding of IEEE-RAS 18th International Conference on Advanced Robotics

      Volume: 1 Pages: 524-529

    • DOI

      10.1109/icar.2017.8023660

    • Related Report
      2017 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Reference Plane Based Fisheye Stereo Epipolar Rectification2017

    • Author(s)
      Nobuyuki Kita, Yasuyo Kita
    • Journal Title

      Proceedings of 12th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications

      Volume: vol. 6 Pages: 308-320

    • DOI

      10.5220/0006261003080320

    • Related Report
      2016 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Virtual Flattening of Clothing Item Held in the Air2016

    • Author(s)
      Yasuyo Kita, Nobuyuki Kita
    • Journal Title

      Proceedings of 23rd International Conference on Pattern Recognition (ICPR)

      Volume: Vol. 1 Pages: 2771-2776

    • DOI

      10.1109/icpr.2016.7900055

    • Related Report
      2016 Annual Research Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] Evaluation of the Viewpoint Shift for a Fisheye Lens Based on Stereo Geometry2016

    • Author(s)
      Nobuyuki Kita
    • Journal Title

      Proceedings of International Conference on Digital Image Computing: Techniques and Applications (DICTA), 2016

      Volume: vol. 1 Pages: 573-577

    • DOI

      10.1109/dicta.2016.7797038

    • Related Report
      2016 Annual Research Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Presentation] RGB-Dカメラを用いた衣類の仮想展開の性能分析及び改良の考察2021

    • Author(s)
      中島 雅己, 喜多泰代、松田 一朗
    • Organizer
      第20回情報科学技術フォーラム(FIT2021)
    • Related Report
      2019 Annual Research Report
  • [Remarks] 産総研知能システム研究部門マニピュレーション研究グループ/研究内容

    • URL

      https://unit.aist.go.jp/is/mrg/ci/projects.html

    • Related Report
      2017 Annual Research Report

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Published: 2016-04-21   Modified: 2022-01-27  

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