关键词：计算机视觉可见；物理模拟；标记系统；服装
摘 要：We modeled a shirt by printing a number of markers over it and recording the positions of these distinguishable markers. We implemented a computer-vision based system that tracked visible markers on the shirt, and reconstructed the shirt using the world coordinate of each marker. Furthermore, we created a realistic physics-based simulation that accurately models the real world, including gravity, self collision, rigid body motion and so on, to generate instructions to PR2 by taking the configuration of a shirt as input and work out a sequence of actions to take based on existing algorithms.