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Active Clothing Material Perception Using Tactile Sensing and Deep Learning

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Academic year: 2021

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Figure

Fig. 1. (a)The robotic system that automatically perceives clothes when they are in the natural environment
Fig. 2. Examples of GelSight images when the robot squeezes on clothes(color rescaled for display purpose)
Fig. 3. Examples of the clothes in the dataset. Our dataset contains 153 items of clothes in total, which range widely in different materials, sizes, and types.
Fig. 5. (a) The RGB image from Kinect. (b) The depth image D from Kinect. (c) D W : the depth image in the world coordinate
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