A Heuristic-Based Approach for Flattening Wrinkled Clothes

摘要

In this paper, we present a heuristic-based strategy to flatten a crumpled cloth by eliminating visually detected wrinkles. In order to explore and validate visually guided clothing manipulation, we have developed a hand-eye interactive learning system that incorporates a clothing simulator to close the effector-garment-visual sensing interaction loop. We also propose a criterion by which to evaluate the various approaches used to flatten cloth. In this paper, our heuristic-basedmethod is applied to virtual cloth in our simulator and the resulting flattening performance is compared to that obtained by manual flattening methods. These experiments demonstrate that the effectiveness and efficiency of our heuristic-based garment flattening method approaches that of manual flattening.