Computer Science M.Sc. at University of BonnPhD student at Autonomous Intelligent Systems Group
Address:
Rheinische Friedrich-Wilhelms-Universität Bonn
Institut für Informatik VI
Friedrich-Hirzebruch-Allee 8 ( visitor adress )
Friedrich-Hirzebruch-Allee 5 ( post adress )
53115 Bonn
Tel: +49 (0) 228-73-60796
Email: periyasa _at_ ais.uni-bonn.de
Office: 0.052
I am interested in representation, learning, and refinement of 6D object poses for scene understanding.
Some results of 6D object pose refinement using a fast differentiable renderer in abstract render-and-compare framework are shown here:
Arash Amini, Arul Selvam Periyasamy, and Sven Behnke:
T6D-Direct: Transformers for
Multi-Object 6D Pose Direct Regression
In Proceedings of DAGM German Conference on Pattern Recognition (GCPR),
Bonn, Germany, September 2021.
[Video]
Arul Selvam Periyasamy, Max Schwarz, and Sven Behnke:
SynPick: A
Dataset for Dynamic Bin Picking Scene Understanding
In Proceedings of IEEE International Conference on Automation Science
and Engineering (CASE), Lyon, France, August 2021.
[Project page with data set, code, and videos}
Christian Lenz, Jan Quenzel, Arul Selvam Periyasamy, Jan Razlaw,
Andre Rochow, Malte Splietker, Michael Schreiber, Max Schwarz, Finn
Süberkrüb, and Sven Behnke:
Team NimbRo’s UGV Solution
for Autonomous Wall Building and Fire Fighting at MBZIRC 2020
Accepted for Field Robotics, to appear 2021.
Christian Lenz, Max Schwarz, Andre Rochow, Jan Razlaw, Arul Selvam
Periyasamy, Michael Schreiber, and Sven Behnke:
Autonomous Wall Building with
a UGV-UAV Team at MBZIRC 2020
In Proceedings of IEEE International Symposium on Safety, Security, and
Rescue Robotics (SSRR), Abu Dhabi, UAE, November 2020.
[Videos]
Arul Selvam Periyasamy, Max Schwarz, and Sven Behnke:
Refining 6D
Object Pose Predictionsusing Abstract Render-and-Compare
Accepted for IEEE-RAS International Conference on Humanoid Robots
(Humanoids), Toronto, Canada, October 2019.
Tobias Klamt, Max Schwarz, Christian Lenz, Lorenzo Baccelliere,
Domenico Buongiorno, Torben Cichon, Antonio DiGuardo, David Droeschel,
Massimiliano Gabardi,
Malgorzata Kamedula, Navvab Kashiri, Arturo
Laurenzi, Daniele Leonardis, Luca Muratore, Dmytro Pavlichenko, Arul S.
Periyasamy, Diego Rodriguez,
Massimiliano Solazzi, Antonio Frisoli,
Michael Gustmann, Jürgen Roßmann, Uwe Süss, Nikos G. Tsagarakis, and
Sven Behnke:
Remote mobile
manipulation with the Centauro robot: Full‐body telepresence and
autonomous operator assistance
Journal of Field Robotics (JFR), Wiley, 2019.
[Video]
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