In this section
@article{Wang:2026:10.1109/TASE.2026.3713128,
author = {Wang, W and Bhattacharya, D and Tang, K and Kobayashi, A and Tokuda, F and Tien, N and Kosuge, K},
doi = {10.1109/TASE.2026.3713128},
journal = {IEEE Transactions on Automation Science and Engineering},
title = {Robotic Fabric Alignment System for Sewing Using Global Local Weighted ICP},
url = {http://dx.doi.org/10.1109/TASE.2026.3713128},
year = {2026}
}
TY - JOUR
AB - Accurate fabric alignment is a critical step that must be performed before sewing. This paper presents a novel automated fabric alignment system. The system estimates the poses of top and bottom fabric panels—lying flat and wrinkle-free in arbitrary positions—using a new Global Local Weighted Iterative Closest Point (GLW-ICP) method. The system then manipulates the top panel to achieve precise alignment at both edges and sewing lines.Unlike conventional approaches, GLW-ICP robustly aligns both global edges and local sewing lines by globally aligning fabric edge points and locally aligning sewing line points to their corresponding CAD model points, while removing unmatched points in occluded regions. Real-world experiments with various fabric shapes show that the system consistently achieves millimeter-level alignment accuracy under both occlusion and non-occlusion conditions, demonstrating its effectiveness and suitability for automated fabric alignment in practical scenarios.
AU - Wang,W
AU - Bhattacharya,D
AU - Tang,K
AU - Kobayashi,A
AU - Tokuda,F
AU - Tien,N
AU - Kosuge,K
DO - 10.1109/TASE.2026.3713128
PY - 2026///
SN - 1545-5955
TI - Robotic Fabric Alignment System for Sewing Using Global Local Weighted ICP
T2 - IEEE Transactions on Automation Science and Engineering
UR - http://dx.doi.org/10.1109/TASE.2026.3713128
ER -