Universität Bonn: Autonomous Intelligent SystemsInstitute for Computer Science VI: Autonomous Intelligent Systems
Arul S. Periyasamy

Arul Selvam Periyasamy

Computer Science M.Sc. at University of Bonn
PhD student at Autonomous Intelligent Systems Group

Address: 

   Rheinische Friedrich-Wilhelms-Universität Bonn
   Institut für Informatik VI
   Endenicher Allee 19 A
   53115 Bonn 

Tel:  +49 (0) 228-73-60796

Email: periyasa _at_ ais.uni-bonn.de

Office: 0.052

Reseach Interests

I am interested in representation, learning, and refinement of object poses for scene understanding. Some results of 6D object pose refinement using abstract render-and-compare technique is shown here:

Publications


Max Schwarz, David Droeschel, Christian Lenz, Arul Selvam Periyasamy, En Yen Puang, Jan Razlaw, Diego Rodriguez, Sebastian Schüller, Michael Schreiber, and Sven Behnke:
Team NimbRo at MBZIRC 2017: Autonomous Valve Stem Turning using a Wrench
Journal of Field Robotics (JFR) 36(1):170-182, Wiley, January 2019.

Dmytro Pavlichenko, Diego Rodriguez, Max Schwarz, Christian Lenz, Arul Selvam Periyasamy, and Sven Behnke:
Autonomous Dual-Arm Manipulation of Familiar Objects
In Proceedings of IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), Beijing, China, November 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]

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
In Proceedings of  IEEE International Conference on Robotics and Automation (ICRA), pp. 3347-3354, Brisbane, Australia, May 2018.
[Video]

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) 37(4-5):437-451, Sage Publications, 2018.

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.
Finalist for Best Automation Paper Award.
[Video] [Source]

Max Schwarz, Marius Beul, David Droeschel, Sebastian Schüller, Arul Selvam Periyasamy, Christian Lenz, Michael Schreiber, and Sven Behnke:
Supervised Autonomy for Exploration and Mobile Manipulation in Rough Terrain with a Centaur-like Robot
Frontiers in Robotics and AI, section Humanoid Robotics, vol. 3, article 57, October 2016.
DOI: 10.3389/frobt.2016.00057






Universität Bonn, Institute for Computer Science, Departments: I, II, III, IV, V, VI