Overview

I am a PhD Student at Imperial College London since November 2012 under the supervision of Dr. Tae-Kyun Kim. My reseach is about robotic vision and action. More specifically, the goal of my project is to develop a robotic system which will grasp a cloth from a pile, recognize it and manipulate it in order to fold it on a table.

Research

The research field of the PhD is the recognition and manipulation of clothes using a robotic system. More specifically, a robotic system will be designed in order to grasp a cloth from a pile of clothes, recognize it and manipulate it on a table in order to bring it to a folded state. This research area has gained significant atten-tion by scientists and industry recently, as domestic robots doing the housework are expected to become very popular in future.

One of the key challenges in cloth recognition and perception is handling the variabilities in geometry and appearance. This variability is due to the large number of different configurations a cloth can take, self-occlusion and the wide range of cloth textures and colors. To handle the large configuration space of clothes, And/or graph grammars will be used as an architecture because of their enormous representation power. By using only a small amount of basic shape and feature information gathered from a small training dataset and by creating a basic graph configuration based on a set of production rules, they can represent a large number of different object appearances. Moreover, they appear to be very robust to occlusions as they can make inferences for an object based only on its parts. These characteristics make graph grammars the ideal architecture for representing and recognizing clothes in a very deformable state.

Curriculum Vitae

Education

Awards & Participations

Contact

My personal e-mail address is: a.doumanoglou12@imperial.ac.uk