Universität Bonn: Autonomous Intelligent Systems Group   Computer Science Institute VI: Autonomous Intelligent Systems


Amazon Research Awards

Amazon Research Awards

Since 2018 Amazon supports our research on perception of bin picking scenes with Amazon Research Awards.

Bin picking robot with five-finger hand    Abstract Render and Compare

ARA Project "Learning Structured Scene Modeling and Physics-Based Prediction for Manipulation"

Amazon continues to support our research on interpreting bin picking scenes with a 2019 Amazon Research Award.
In the new project, we go beyond the passive observation of scenes by considering scene changes caused by the actions of a robotic manipulator arm. We will learn predictive models of the effects of manipulation actions and use these to maintain the structured scene model while the robot is manipulating.

ARA Project "Generalizing Scene Parsing for Cluttered Bin Picking"

Supported by an 2018 Amazon Research Award, we continued research in the area of interpreting cluttered bin picking scenes.

Sven Behnke and Max Schwarz:
Generalizing Scene Parsing for Cluttered Bin Picking
Presentation at Amazon Research Award Symposium (ARA), Boston, MA, USA, October 2019.

Max Schwarz and Sven Behnke:
Stillleben: Realistic Scene Synthesis for Deep Learning in Robotics
In Proceedings of  IEEE International Conference on Robotics and Automation (ICRA), Paris, France, May 2020.
[Source code] [Presentation video]

ConvPoseCNN: Dense Convolutional 6D Object Pose Estimation
In Proceedings of 15th International Conference on Computer Vision Theory and Applications (VISAPP), pp. 162-172, Valletta, Malta, February 2020.

Umashankar Deekshith, Nishit Gajjar, Max Schwarz, and Sven Behnke:
Visual Descriptor Learning from Monocular Video
In Proceedings of 15th  International Conference on Computer Vision Theory and Applications (VISAPP), pp. 444-451, Valletta, Malta, February 2020.

Arul Selvam Periyasamy, Max Schwarz, and Sven Behnke:
Refining 6D Object Pose Predictions using Abstract Render-and-Compare
In Proceedings of IEEE-RAS International Conference on Humanoid Robots (Humanoids), Toronto, Canada, October 2019.
[Video]

ARA Project "Learning Scene Parsing for Cluttered Bin Picking"

Starting from our work in the Amazon Pioking and Robotics Challenges, we investigated the parsing of complex bin picking scenes with support of an Amazon Research Award.

Sven Behnke and Max Schwarz:
Learning Semantic Perception for Cluttered Bin Picking
Presentation at Amazon Research Awards Fall Symposium (ARA), Boston, MA, USA, October 2018.

Arul Selvam Periyasamy, Max Schwarz, and Sven Behnke:
Robust 6D Object Pose Estimation in Cluttered Scenes using Semantic Segmentation and Pose Regression Networks
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, October 2018.
[Video]

Amazon Robotics Challenge

Amazon Robotics Challenge

[ICRA_2018_Schwarz_ARC.mp4]

Our team NimbRo Picking came in second at the Amazon Picking Challenge 2016 and the Amazon Robotics Challenge 2017.

Publications:

Volker Krueger, Francesco Rovida, Bjarne Grossmann, Ronald Petrick, Matthew Crosby, Arnaud Charzoule, German Martin Garcia, Sven Behnke, Cesar Toscano, Germano Veiga:
Testing the Vertical and Cyber-Physical Integration of Cognitive Robots in Manufacturing
Robotics and Computer-Integrated Manufacturing, vol. 57, pp. 213-229, Elsevier, June 2019.

Max Schwarz, Christian Lenz, German Martin Garcia, Seongyong Koo, Arul Selvam Periyasamy, Michael Schreiber, and Sven Behnke:
Fast Object Learning and Dual-arm Coordination for Cluttered Stowing, Picking, and Packing
Accepted for IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, May 2018.

Max Schwarz, Anton Milan, Arul Selvam Periyasamy, and Sven Behnke:
RGB-D Object Detection and Semantic Segmentation for Autonomous Manipulation in Clutter
International Journal of Robotics Research (IJRR), Sage Publications, available online, June 2017.

Max Schwarz, Anton Milan, Christian Lenz, Aura Munoz, Arul Selvam Periyasamy, Michael Schreiber, Sebastian Schüller, and Sven Behnke:
NimbRo Picking: Versatile Part Handling for Warehouse Automation
In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Singapore, May 2017. 
[Video]
 

Project STAMINA: Sustainable and Reliable Robotics for Part Handling in Manufacturing Automation


STAMINA logo
This project is funded by the FP7 ICT GA 610917.

Our partners are:

Summary

The goal of STAMINA is to develop a fleet of autonomous and mobile industrial robots for jointly solving three logistic and handling tasks: de-palletizing, bin-picking, and kitting. The main task of our group is the grasping of parts from transport containers. This includes the detection and pose estimation of parts as well as the grasp and arm motion planning for a robot manipulator.

Depalettizing demonstrator.

Publications:

Volker Krueger, Arnaud Charzoule, Bjarne Grossmann, Cesar Toscano, Francesco Rovida, German Martin Garcia, Germano Veiga, Matthew Crosby, Ronald Petrick, and Sven Behnke:
Testing the Vertical and Cyber-Physical Integration of Cognitive Robots in Manufacturing
Accepted for Robotics and Computer-Integrated Manufacturing, Elsevier, to appear 2019.

Dmytro Pavlichenko, Germán Martín García, Seongyong Koo, and Sven Behnke:
KittingBot: A Mobile Manipulation Robot for Collaborative Kitting in Automotive Logistics
Accepted for 15th International Conference on Intelligent Autonomous Systems (IAS-15), Baden-Baden, Germany, June 2018.

Seongyong Koo, Grzegorz Ficht, Germán Martín García, Dmytro Pavlichenko, Martin Raak, and Sven Behnke:
Robolink Feeder: Reconfigurable Bin-Picking and Feeding with a Lightweight Cable-Driven Manipulator
In Proceedings of 13th IEEE International Conference on Automation Science and Engineering (CASE), Xi'an, China, August 2017.
[Video]

Dirk Holz and Sven Behnke:
Fast Edge-Based Detection and Localization of Transport Boxes and Pallets in RGB-D Images for Mobile Robot Bin Picking
In Proceedings of 47th International Symposium on Robotics (ISR), Munich, Germany, June 2016.

Dirk Holz, Alexandru-Eugen Ichim, Federico Tombari, Radu B. Rusu, and Sven Behnke:
Registration with the Point Cloud Library - A Modular Framework for Aligning in 3-D
IEEE Robotics and Automation Magazine, 22(4):110-124, December 2015.

Dirk Holz, Angeliki Topalidou-Kyniazopoulou, Joerg Stueckler, and Sven Behnke:
Real-Time Object Detection, Localization and Verification for Fast Robotic Depalletizing
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, September 2015.
[Video]

Dirk Holz, Angeliki Topalidou-Kyniazopoulou, Francesco Rovida,Mikkel Rath Pedersen, Volker Krüger, and Sven Behnke:
A Skill-Based System for Object Perception and Manipulation for Automating Kitting Tasks
In Proceedings of 20th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), Luxemburg, September 2015.

Dirk Holz and Sven Behnke:
Approximate Surface Reconstruction and Registration for RGB-D SLAM
In Proceedings of European Conference on Mobile Robots (ECMR), Lincoln, UK, September 2015.


Related Projects

[.mp4]

Publications of previous project ActReMa

Dirk Holz, Matthias Nieuwenhuisen, David Droeschel, Jörg Stückler, Alexander Berner, Jun Li, Reinhard Klein, and Sven Behnke:
Active Recognition and Manipulation for Mobile Robot Bin Picking
In: Gearing up and accelerating cross-fertilization between academic and industrial robotics research in Europe - Technology transfer experiments from the ECHORD project, vo. 94 of Springer Tracts in Advanced Robotics (STAR), pp. 133-153, 2014.

Alexander Berner, Jun Li, Dirk Holz, Jörg Stückler, Sven Behnke, and Reinhard Klein:
Combining Contour and Shape Primitives for Object Detection and Pose Estimation of Prefabricated Parts
In Proceedings of IEEE International Conference on Image Processing (ICIP), Melbourne, Australia, September 2013.

Matthias Nieuwenhuisen, David Droeschel, Dirk Holz, Joerg Stückler, Alexander Berner, Jun Li, Reinhard Klein, and Sven Behnke:
Mobile Bin Picking with an Anthropomorphic Service Robot
In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, May 2013.

Matthias Nieuwenhuisen, Jörg Stückler, Alexander Berner, Reinhard Klein, and Sven Behnke:
Shape-Primitive Based Object Recognition and Grasping
In Proceedings of 7th German Conference on Robotics (ROBOTIK), Munich, May 2012.

Dirk Holz, Matthias Nieuwenhuisen, David Droeschel, Jörg Stückler, Sven Behnke, Alexander Berner, and Reinhard Klein:
Active Recognition and Manipulation of Objects Based on Shape Primitives
Poster at 5th International Conference on Cognitive Systems (CogSys) Vienna, February 2012.


Multimedia report of previous project ActReMa


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