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The ACRV Picking Benchmark

The ACRV Picking Benchmark

9:17 am, 31 MAY 2017

ICRA 2017, Singapore

Juxi Leitner

j.leitner@roboticvision.org

+61 7 3138 4276

International Conference on Robotics and Automation (ICRA) 2017

The ACRV Picking Benchmark: A Robotic Shelf Picking Benchmark to Foster Reproducible Research

Research Fellow Juxi Leitner is talking about the ACRV Picking Benchmark at the 2017 IEEE International Conference on Robotics and Automation (ICRA) in Singapore.

Benchmark Description

We propose a physical benchmark for robotic picking: overall design, objects, configuration, and guidance on appropriate technologies to solve it. Challenges are an important way to drive progress but they occur only occasionally and the test conditions are difficult to replicate outside the challenge. This benchmark is motivated by experience in the recent Amazon Picking Challenge and contains a commonly-available shelf, 42 objects, a set of stencils and standardized task setups. A major focus through the design of this benchmark was to maximise reproducibility: a number of carefully chosen scenarios with precise instructions on how to place, orient, and align objects with the help of printable stencils are defined. To make the benchmark as accessible as possible to the research community, a white IKEA shelf is used for all picking tasks. Furthermore, we carefully curated a set of 42 objects to ensure global availability and reduced chance of import restrictions.

More Information

Check out this page to download the paper, the baseline code and the object dataset.

Australian Centre for Robotic Vision
2 George Street Brisbane, 4001
+61 7 3138 7549