@InProceedings{Stria-Prusa-Hlavac-Wagner-Petrik-Krsek-Smutny-IROS-2014,
  IS = { zkontrolovano 02 Jan 2015 },
  UPDATE  = { 2014-10-27 },
  author =      {Stria, Jan and Pr{\accent23 u}{\v s}a, Daniel and Hlav{\'a}{\v c}, V{\'a}clav and Wagner, Libor and Petr{\'\i}k, Vladim{\'\i}r and Krsek, Pavel and Smutn{\'y}, Vladim{\'\i}r},
  affiliation = {13133},
  authorship =  {50-10-10-10-10-5-5},
  title =       {Garment Perception and its Folding Using a Dual-arm Robot},
  year =        {2014},
  pages =       {61-67},
  booktitle =   {Proc. IEEE/RSJ International Conference on Inteligent Robots and Systems, IROS 2014},
  editor =      {Burgard, Wolfram},
  isbn =        {978-1-4799-6933-3},
  publisher =   {IEEE Computer Society},
  address =     {Los Alamitos, USA},
  book_pages =  {5055},
  month =       {September},
  day =         {14-18},
  venue =       {Chicago, Illinois, USA},
  organization ={IEEE},
  annote =      {The work addresses the problem of clothing perception
                  and manipulation by a two armed industrial robot
                  aiming at a real-time automated folding of a piece
                  of garment spread out on a flat surface. A complete
                  solution combining vision sensing, garment
                  segmentation and understanding, planning of the
                  manipulation and its real execution on a robot is
                  proposed. A new polygonal model of a garment is
                  introduced. Fitting the model into a segmented
                  garment contour is used to detect garment landmark
                  points. It is shown how folded variants of the
                  unfolded model can be derived
                  automatically. Universality and usefulness of the
                  model is demonstrated by its favorable performance
                  within the whole folding procedure which is
                  applicable to a variety of garments categories
                  (towel, pants, shirt, etc.) and evaluated
                  experimentally using the two armed robot. The
                  principal novelty with respect to the state of the
                  art is in the new garment polygonal model and its
                  manipulation planning algorithm which leads to the
                  speed up by two orders of magnitude.},
  keywords =    {robotics, perception, manipulation, garment, clothes},
  prestige =    {important},
  project =     {FP7-288553 CloPeMa, SGS13/205/OHK3/3T/13, TACR TE01020197},
  psurl =       {
[Stria-Prusa-Hlavac-IROS-2014.pdf]},
  www =         {http://www.iros2014.org/},
  ACCEPTANCE_ratio = {755/1616},
}