论文标题
机器人感知的方法和挑战，用于桌面重排和计划
Approaches and Challenges in Robotic Perception for Table-top Rearrangement and Planning
论文作者
论文摘要
桌面重排和计划是一个具有挑战性的问题，在很大程度上依赖于出色的感知堆栈。感知堆栈涉及观察和注册桌子上的3D场景，检测桌子上的对象以及如何操纵它们。因此，它极大地影响了系统的任务规划和运动规划堆栈。我们提出了全面的概述，并讨论与感知模块相关的不同挑战。这项工作是我们广泛参与ICRA 2022 Open Cloud Robot Table组织挑战的结果，在最终排名中我们排名第三。
Table-top Rearrangement and Planning is a challenging problem that relies heavily on an excellent perception stack. The perception stack involves observing and registering the 3D scene on the table, detecting what objects are on the table, and how to manipulate them. Consequently, it greatly influences the system's task-planning and motion-planning stacks that follow. We present a comprehensive overview and discuss the different challenges associated with the perception module. This work is a result of our extensive involvement in the ICRA 2022 Open Cloud Robot Table Organization Challenge, in which we stood third in the final rankings.
