{"id":"https://openalex.org/W3178332641","doi":"https://doi.org/10.1109/icps49255.2021.9468189","title":"A Cyber-Physical System for Clothes Detection, Manipulation and Washing Machine Loading","display_name":"A Cyber-Physical System for Clothes Detection, Manipulation and Washing Machine Loading","publication_year":2021,"publication_date":"2021-05-10","ids":{"openalex":"https://openalex.org/W3178332641","doi":"https://doi.org/10.1109/icps49255.2021.9468189","mag":"3178332641"},"language":"en","primary_location":{"id":"doi:10.1109/icps49255.2021.9468189","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icps49255.2021.9468189","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 4th IEEE International Conference on Industrial Cyber-Physical Systems (ICPS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/11585/832113","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5047324536","display_name":"Alessio Caporali","orcid":"https://orcid.org/0000-0001-9522-4231"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Alessio Caporali","raw_affiliation_strings":["University of Bologna, Bologna, Italy"],"affiliations":[{"raw_affiliation_string":"University of Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012283398","display_name":"Wendwosen Bellete Bedada","orcid":null},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Wendwosen Bellete Bedada","raw_affiliation_strings":["University of Bologna, Bologna, Italy"],"affiliations":[{"raw_affiliation_string":"University of Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038240894","display_name":"Gianluca Palli","orcid":"https://orcid.org/0000-0001-9457-4643"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gianluca Palli","raw_affiliation_strings":["University of Bologna, Bologna, Italy"],"affiliations":[{"raw_affiliation_string":"University of Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5047324536"],"corresponding_institution_ids":["https://openalex.org/I9360294"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.03627316,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"519","last_page":"524"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9958000183105469,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6070113182067871},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5638463497161865},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5454540848731995},{"id":"https://openalex.org/keywords/laundry","display_name":"Laundry","score":0.5356976389884949},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.529882550239563},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4938738942146301},{"id":"https://openalex.org/keywords/bin","display_name":"Bin","score":0.4690476059913635},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4556560516357422},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.4392756223678589},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3254185914993286},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.12610778212547302}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6070113182067871},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5638463497161865},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5454540848731995},{"id":"https://openalex.org/C2778585658","wikidata":"https://www.wikidata.org/wiki/Q852100","display_name":"Laundry","level":2,"score":0.5356976389884949},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.529882550239563},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4938738942146301},{"id":"https://openalex.org/C156273044","wikidata":"https://www.wikidata.org/wiki/Q4913766","display_name":"Bin","level":2,"score":0.4690476059913635},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4556560516357422},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.4392756223678589},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3254185914993286},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.12610778212547302},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C548081761","wikidata":"https://www.wikidata.org/wiki/Q180388","display_name":"Waste management","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icps49255.2021.9468189","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icps49255.2021.9468189","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 4th IEEE International Conference on Industrial Cyber-Physical Systems (ICPS)","raw_type":"proceedings-article"},{"id":"pmh:oai:cris.unibo.it:11585/832113","is_oa":true,"landing_page_url":"https://hdl.handle.net/11585/832113","pdf_url":null,"source":{"id":"https://openalex.org/S4306402579","display_name":"Archivio istituzionale della ricerca (Alma Mater Studiorum Universit\u00e0 di Bologna)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210117483","host_organization_name":"Istituto di Ematologia di Bologna","host_organization_lineage":["https://openalex.org/I4210117483"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:cris.unibo.it:11585/832113","is_oa":true,"landing_page_url":"https://hdl.handle.net/11585/832113","pdf_url":null,"source":{"id":"https://openalex.org/S4306402579","display_name":"Archivio istituzionale della ricerca (Alma Mater Studiorum Universit\u00e0 di Bologna)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210117483","host_organization_name":"Istituto di Ematologia di Bologna","host_organization_lineage":["https://openalex.org/I4210117483"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3110145427","display_name":null,"funder_award_id":"870133","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1581896395","https://openalex.org/W2025259112","https://openalex.org/W2052461980","https://openalex.org/W2074658631","https://openalex.org/W2074982232","https://openalex.org/W2085635784","https://openalex.org/W2089630413","https://openalex.org/W2105537999","https://openalex.org/W2133353747","https://openalex.org/W2135249503","https://openalex.org/W2138471467","https://openalex.org/W2138964437","https://openalex.org/W2141793005","https://openalex.org/W2160821342","https://openalex.org/W2406410786","https://openalex.org/W2808405904","https://openalex.org/W3005637401","https://openalex.org/W3092515660","https://openalex.org/W3099346536","https://openalex.org/W3108543407","https://openalex.org/W3139957176","https://openalex.org/W6713813729"],"related_works":["https://openalex.org/W2585005247","https://openalex.org/W3181783277","https://openalex.org/W2622997478","https://openalex.org/W1970382995","https://openalex.org/W4367850245","https://openalex.org/W2766826853","https://openalex.org/W4313227202","https://openalex.org/W4239926022","https://openalex.org/W3025054796","https://openalex.org/W2966923705"],"abstract_inverted_index":{"In":[0,135],"this":[1],"paper,":[2],"a":[3,24,37,56,110,137],"cyber-physical":[4],"system":[5],"for":[6,49,83,91,99,149,178],"the":[7,17,32,41,43,46,50,60,73,86,94,97,100,103,117,126,144,150,156,161],"detection":[8],"and":[9,13,130],"manipulation":[10],"of":[11,19,96,102,155],"clothes":[12,33],"its":[14],"application":[15],"to":[16,40,113,120,125,131,159],"problem":[18],"their":[20],"robotized":[21],"insertion":[22],"in":[23,64,116,143],"washing":[25,74,145],"machine":[26,146],"drum":[27,61],"is":[28,81,141,164],"presented.":[29,166],"Starting":[30],"with":[31,55],"randomly":[34],"placed":[35],"inside":[36],"bin":[38,52],"next":[39],"appliance,":[42],"method":[44],"describes":[45],"approach":[47,168],"used":[48],"laundry":[51],"picking":[53,58],"together":[54],"recovery":[57,147],"from":[59,72],"door":[62],"region":[63],"case":[65],"some":[66],"large":[67],"cloth":[68,118,162],"remains":[69],"partially":[70],"out":[71],"machine.":[75],"The":[76,106,153,167],"same":[77],"pointcloud-based":[78],"perception":[79],"algorithm":[80,108],"utilized":[82],"both":[84,179],"tasks:":[85],"approaches":[87],"are":[88],"different":[89],"only":[90],"what":[92],"concerns":[93],"segmentation":[95,151],"pointcloud":[98,138],"extraction":[101],"cloth-related":[104],"points.":[105],"main":[107],"exploits":[109],"wrinkledness":[111],"measure":[112],"identify":[114],"wrinkles":[115],"surface,":[119],"robustly":[121],"assign":[122],"spline":[123],"curves":[124],"detected":[127],"wrinkle-like":[128],"structure":[129],"estimate":[132],"grasping":[133,163],"frames.":[134],"addition,":[136],"registration":[139],"technique":[140],"applied":[142],"task":[148],"stage.":[152],"planning":[154],"robot":[157],"operations":[158],"execute":[160],"also":[165],"has":[169],"been":[170],"validated":[171],"extensively":[172],"by":[173],"performing":[174],"100":[175],"trials":[176],"grasps":[177],"tasks.":[180]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}