A Study of Laundry Tidiness: Socks Pairing Using Video and 3D Sensors
MAIYA Kazuki, MIYOSHI Tsutomu, and HIROSE Daiki

Abstract. 
Recent years, house-robots have become popular with the advances in robot technology, but there is no alternative for the tidiness of laundry by robots. 
We analyzed the functions required to tidy up laundry by robots, and thought that the pairing of socks is important. 
The purpose of this study is to develop a system for pairing socks automatically by robots. 
This paper provides the recognition part of this system that includes deforming detection and thesimilarity determination of socks by the use of image processing and 3D information. 
The results show that the system could detect deforming position and gripping point correctly, and could classify socks of same pattern into same group. 
The study concludes that the method to revise the deformation using multiple sensors is effective.

Keywords: Laundry, House-robot, Socks, Deform