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Team Delft's Robot Winner of the Amazon Picking Challenge 2016

This paper describes Team Delft's robot, which won the Amazon Picking Challenge 2016, including both the Picking and the Stowing competitions. The goal of the challenge is to automate pick and place operations in unstructured environments, specifically the shelves in an Amazon warehouse. Team Delft's robot is based on an industrial robot arm, 3D cameras and a customized gripper. The robot's software uses ROS to integrate off-the-shelf components and modules developed specifically for the competition, implementing Deep Learning and other AI techniques for object recognition and pose estimation, grasp planning and motion planning. This paper describes the main components in the system, and discusses its performance and results at the Amazon Picking Challenge 2016 finals.

preprint2016arXivOpen access
Carlos HernandezMukunda BharatheeshaWilson KoHans GaiserJethro TanKanter van DeurzenMaarten de VriesBas Van MilJeff van EgmondRuben BurgerMihai MorariuJihong JuXander GerrmannRonald EnsingJan Van FrankenhuyzenMartijn Wisse
Robotics
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Open access16 authors1 topic
Imported metadata coverageMissing code, dataset, citation and institution fields are tracked without dominating the paper.Details
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Carlos HernandezMukunda BharatheeshaWilson KoHans GaiserJethro TanKanter van DeurzenMaarten de VriesBas Van MilJeff van EgmondRuben BurgerMihai MorariuJihong JuXander GerrmannRonald EnsingJan Van FrankenhuyzenMartijn Wisse

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