CloSE: 形状に依存しない幾何学的な布状態表現
CloSE: A Geometric Shape-Agnostic Cloth State Representation
布の変形状態を円形グリッド上のトポロジー指標からなるdGLIディスクで表現し、その特徴を円に抽象化したCloSEを提案。形状・サイズ・向きに依存せず、折り目位置の予測や意味付け、計画に応用可能。
著者: Jay Kamat, Júlia Borràs, Carme Torras
分類: cs.RO, cs.CV
原文アブストラクト
Cloth manipulation is a difficult problem mainly because of the non-rigid nature of cloth, which makes a good representation of deformation essential. We present a new representation for the deformation-state of clothes. First, we propose the dGLI disk representation based on topological indices computed for edge segments of the cloth border that are arranged on a circular grid. The heat-map of the dGLI disk uncovers patterns that correspond to features of the cloth state that are consistent for different shapes, sizes or orientation of the cloth. We then abstract these important features from the dGLI disk into a circle, calling it the Cloth StatE representation (CloSE). This representation is compact, continuous, and general for different shapes. We show that this representation is able to accurately predict the fold locations for several simulation clothing datasets. Finally, we also show the strengths of this representation in two relevant applications: semantic labeling and high- and low-level planning. The code and the dataset can be accessed from: https://close-representation.github.io/
