In this paper a dictionary of primitives is proposed that define critical features for the representation of a cloth's configuration so as to unfold it using a general manipulator. The primitives are defined, detected and classified according to geometrical criteria. Experimental results demonstrate the effectiveness of the detection and classification approach. Finally, applications are presented where the dictionary of the proposed primitives can be used, such as the definition of different types of folds of an unfolded fabric that can facilitate the unfolding task. Conclusion and suggestions for future work completes this paper.
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