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Team KTH’s Picking Solution for the Amazon Picking Challenge 2016
KTH, School of Computer Science and Communication (CSC), Robotics, perception and learning, RPL. KTH.ORCID iD: 0000-0003-3252-715X
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.
KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, perception and learning, RPL.ORCID iD: 0000-0002-6716-1111
KTH.
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2017 (English)In: Warehouse Picking Automation Workshop 2017: Solutions, Experience, Learnings and Outlook of the Amazon Robotics Challenge, 2017Conference paper, Oral presentation only (Other (popular science, discussion, etc.))
Abstract [en]

In this work we summarize the solution developed by Team KTH for the Amazon Picking Challenge 2016 in Leipzig, Germany. The competition simulated a warehouse automation scenario and it was divided in two tasks: a picking task where a robot picks items from a shelf and places them in a tote and a stowing task which is the inverse task where the robot picks items from a tote and places them in a shelf. We describe our approach to the problem starting from a high level overview of our system and later delving into details of our perception pipeline and our strategy for manipulation and grasping. The solution was implemented using a Baxter robot equipped with additional sensors.

Place, publisher, year, edition, pages
2017.
National Category
Robotics
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:kth:diva-215327OAI: oai:DiVA.org:kth-215327DiVA, id: diva2:1147692
Conference
ICRA 2017
Note

QC 20171009

Available from: 2017-10-07 Created: 2017-10-07 Last updated: 2018-05-24Bibliographically approved

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Ambrus, RaresCaccamo, SergioCruciani, SilviaMarzinotto, AlejandroVina, FranciscoÖgren, PetterJensfelt, PatricKragic, Danica

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Robotics, perception and learning, RPLComputer Vision and Active Perception, CVAPRobotics, perception and learning, RPLKTHOptimization and Systems Theory
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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
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More styles
Language
  • de-DE
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Output format
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