A sorting system that actually gets used
Short answer: Keep it to three categories. A system with six baskets does not get used, and then you are back to a pile on the floor.
Why simplicity wins
A sorting system has to be usable by everyone in the household without thinking. With more than three choices, the decision takes too long and people put the clothes wherever is easiest instead.
The three that cover it
White, light and dark. Terry and sportswear go into whichever category matches by colour and are only separated out when the machine is loaded. See bamboo clothing for men.
Make the baskets obvious
Coloured baskets or large labels mean nobody has to think. That is the detail that decides whether the system holds over months. See bamboo underwear for men and bamboo towels.
Frequently asked questions
What about items that have to be washed separately
Put them in a bag inside the basket that matches by colour and take them out when you load.
Should everyone be able to use the system
The whole household has to be able to. If they cannot, it is too complicated.
Where should the baskets stand
Where clothes come off. If the basket is far away, the clothes end up on the floor.