Yasuyo Kita Fuminori Saito Nobuyuki Kita A Deformable Model Driven Visual Method for Handling Clothes. 3889-3895 2004 conf/icra/2004 ICRA db/conf/icra/icra2004-4.html#KitaSK04 http://dx.doi.org/10.1109/ROBOT.2004.1308874