Evaluation of Foveated Stereo Matching for Robotic Cloth Manipulation

Tian Xu, Paul Cockshott

2016

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 following 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.

Paper Citation

in Harvard Style

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, pages 657-664. DOI: 10.5220/0005727506570664

in Bibtex Style

@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},
}

in EndNote Style

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
AU - Xu T.
AU - Cockshott P.
PY - 2016
SP - 657
EP - 664
DO - 10.5220/0005727506570664