loading
Papers Papers/2020

Research.Publish.Connect.

Paper

Paper Unlock

Authors: Tian Xu and Paul Cockshott

Affiliation: University of Glasgow, United Kingdom

Keyword(s): Stereo Matching, Robotic Vision, Foveated Matching, Cloth Manipulation, Grasp, Flatten, Evaluation, GPU.

Abstract: Due to the recent development of robotic techniques, cloth manipulation has become an important task. Stereo matching forms a crucial part of the robotic vision and aims to derive the depth information from the image pairs captured by the stereo cameras. However, processing high resolution images to capture sufficient details meanwhile in real-time is very challenging. In addition to accelerating by current multi-core GPU infrastructure, in this work, we utilize foveated matching algorithm to improve the efficiency. To study the effect of foveated matching algorithm on two common robotic manipulation tasks, cloth grasping and flattening, we first create a "garment with wrinkle" dataset that includes depth map ground-truth for garments, which is to our knowledge not available in the research community. Secondly, using this dataset, we found that foveated matching is effective in trading off accuracy for efficiency for stereo matching. Finally, by assuming the robotic behavior followin g previous work for both cloth grasping and flattening tasks, we demonstrate that using foveated matching can achieve the same level of accuracy for completing both tasks with two to three times of acceleration. (More)

CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 18.232.59.38

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Xu, T. and Cockshott, P. (2016). Evaluation of Foveated Stereo Matching for Robotic Cloth Manipulation. In Proceedings of the 11th Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2016) ISBN 978-989-758-175-5; ISSN 2184-4321, pages 657-664. DOI: 10.5220/0005727506570664

@conference{visapp16,
author={Tian Xu. and Paul Cockshott.},
title={Evaluation of Foveated Stereo Matching for Robotic Cloth Manipulation},
booktitle={Proceedings of the 11th Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2016)},
year={2016},
pages={657-664},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005727506570664},
isbn={978-989-758-175-5},
issn={2184-4321},
}

TY - CONF

JO - Proceedings of the 11th Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2016)
TI - Evaluation of Foveated Stereo Matching for Robotic Cloth Manipulation
SN - 978-989-758-175-5
IS - 2184-4321
AU - Xu, T.
AU - Cockshott, P.
PY - 2016
SP - 657
EP - 664
DO - 10.5220/0005727506570664