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Matching folded garments to unfolded templates using robust shape analysis techniques

This work presents a novel method performing shape matching of folded garments to unfolded templates, aiming to facilitate unfolding by robotic manipulators. The proposed method incorporates robust shape analysis techniques, estimating point correspondences between contours of folded garments and unfolded templates. The analysis results are also used for estimating the location of the folding axis on the templates and discriminating between different types of garments. The method has been experimentally evaluated using both synthetic and real datasets of folded garments and the produced results indicate the usefulness of the proposed approach.