Precise Top-Layer Fabric Segmentation for Fabric Destacking with Edge- and Shape-Aware Deep Networks
Fabric destacking requires precise segmentation of the topmost fabric layer, a task complicated by subtle fabric boundaries and high visual similarity between fabric layers. Existing semantic and edge-based segmentation approaches often struggle with these complexities, limiting the performance of robotic manipulation for different tasks. In this work, a novel segmentation training architecture tailored for top-layer fabric segmentation in stacked fabrics is proposed. The method extends the classical encoder-decoder framework by introducing two specialized branches - an edge-aware branch and a shape-aware branch - that are used to supervise the backbone network for better tuning. The edge...
| Authors | Wenbo Dong, Dipankar Bhattacharya, Akinari Kobayashi et al. |
|---|---|
| Primary category | cs.CV |
| Published | 11 August 2026 |
| Last updated at source | 11 August 2026 |
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