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.

As a part of my research, I developed StilllebenDR, a light-weight, fast differentiable renderer.

Some results of 6D object pose refinement using StilllebeDR in abstract render-and-compare framework are shown here:

Deformable registration using StilllebenDR and shape-space model in render-and-compare framework are shown here:

Publications

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]

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:
Flexible Disaster Response of Tomorrow - Final Presentation and Evaluation of the CENTAURO System
IEEE Robotics and Automation Magazine, Special Issue on Humanoid Robot Applications in Real World Scenarios, 26(4):59-72, December 2019.
[Video]

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