4 accepted papers
Although instance-aware perception is a key prerequisite for many autonomous robotic applications, most of the methods only partially solve the problem by focusing solely on known object categories. However, for robots interacting in dynamic and cluttered environments, this is not realistic and seve…
In classical robot-camera calibration, a 6D transformation between the camera frame and the local frame of a robot is estimated by first observing a known calibration object from a number of different view points and then finding transformation parameters that minimize the reprojection error. The di…
We present a novel method for classifying 3D objects that is particularly tailored for the requirements in robotic applications. The major challenges here are the comparably small amount of available training data and the fact that often data is perceived in streams and not in fixed-size pools. Trad…
We present RoboSherlock, an open source software framework for implementing perception systems for robots performing human-scale everyday manipulation tasks. In RoboSherlock, perception and interpretation of realistic scenes is formulated as an unstructured information management (UIM) problem. The…