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Robotic handling of textile objects in household environments is an emerging application that has recently received considerable attention thanks to the development of domestic robots. Most current approaches follow a multiple re-grasp strategy for this purpose, in which clothes are sequentially grasped from different points until one of them yields a desired configuration. In this work we propose a vision-based method, built on the Bag of Visual Words approach, that combines appearance and 3Ddoi:10.1016/j.engappai.2014.06.025 fatcat:g7fauqmnxrasdhqaj7nlfmzn7q