The dGLI Cloth Coordinates：一种织物状态语义分类的拓扑表示
The dGLI Cloth Coordinates: A Topological Representation for Semantic Classification of Cloth States
摘要：
机器人对布料的操作是一项非常复杂的任务，因为布料的形状-状态空间是无限维的，这使得布料的状态估计非常困难。在本文中，我们介绍了dGLI布料坐标，一个低维表示的状态的一个矩形块的布，允许有效地区分关键的拓扑变化的折叠序列，打开大门，有效的学习方法的布料操作规划和控制。我们的表示是基于高斯连接积分的方向导数，并允许我们以一致的统一方式表示平面和空间配置。所提出的dGLI布料坐标被证明是更准确的分类布状态和显着更敏感的变化，在把握启示比其他经典的形状距离的方法。最后，我们将我们的表示应用于布料的真实图像，表明我们可以使用简单的基于距离的分类器来识别不同的状态。
英文摘要：
Robotic manipulation of cloth is a highly complex task because of its infinite-dimensional shape-state space that makes cloth state estimation very difficult. In this paper we introduce the dGLI Cloth Coordinates, a low-dimensional representation of the state of a rectangular piece of cloth that allows to efficiently distinguish key topological changes in a folding sequence, opening the door to efficient learning methods for cloth manipulation planning and control. Our representation is based on a directional derivative of the Gauss Linking Integral and allows us to represent both planar and spatial configurations in a consistent unified way. The proposed dGLI Cloth Coordinates are shown to be more accurate in the classification of cloth states and significantly more sensitive to changes in grasping affordances than other classic shape distance methods. Finally, we apply our representation to real images of a cloth, showing we can identify the different states using a simple distance-based classifier.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
