Approaches and Challenges in Robotic Perception for Table-top Rearrangement and Planning

2022/05/09 by Aditya Agarwal, Agarwal, Aditya, Bipasha Sen +11 · 1 citation
Computer Science · Engineering · #Advanced Image and Video Retrieval Techniques #Advanced Neural Network Applications #Robotics and Sensor-Based Localization #cs.RO

paper · pdf · doi:10.48550/arxiv.2205.04090

5 pages including references, 3 figures

arxiv created 2022/06/03 · arxiv updated 2022/06/07

Abstract

Table-top Rearrangement and Planning is a challenging problem that relies heavily on an excellent perception stack. The perception stack involves observing and registering the 3D scene on the table, detecting what objects are on the table, and how to manipulate them. Consequently, it greatly influences the system's task-planning and motion-planning stacks that follow. We present a comprehensive overview and discuss the different challenges associated with the perception module. This work is a result of our extensive involvement in the ICRA 2022 Open Cloud Robot Table Organization Challenge, in which we stood third in the final rankings.

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