再現可能なロボット棚ピッキングベンチマークAPB
The ACRV Picking Benchmark (APB): A Robotic Shelf Picking Benchmark to Foster Reproducible Research
42個の物体と棚を使い、知覚から把持まで含む完全なロボットシステムを比較できる再現性の高い棚ピッキングベンチマークを提案し、Baxterロボットによるベースライン結果を報告した。
著者: Jürgen Leitner, Adam W. Tow, Jake E. Dean, Niko Suenderhauf, Joseph W. Durham, Matthew Cooper, Markus Eich, Christopher Lehnert, Ruben Mangels, Christopher McCool, Peter Kujala, Lachlan Nicholson, Trung Pham, James Sergeant, Liao Wu, Fangyi Zhang, Ben Upcroft, Peter Corke
分類: cs.RO, cs.AI, cs.CV, cs.SY, eess.SY
原文アブストラクト
Robotic challenges like the Amazon Picking Challenge (APC) or the DARPA Challenges are an established and important way to drive scientific progress. They make research comparable on a well-defined benchmark with equal test conditions for all participants. However, such challenge events occur only occasionally, are limited to a small number of contestants, and the test conditions are very difficult to replicate after the main event. We present a new physical benchmark challenge for robotic picking: the ACRV Picking Benchmark (APB). Designed to be reproducible, it consists of a set of 42 common objects, a widely available shelf, and exact guidelines for object arrangement using stencils. A well-defined evaluation protocol enables the comparison of \emph{complete} robotic systems -- including perception and manipulation -- instead of sub-systems only. Our paper also describes and reports results achieved by an open baseline system based on a Baxter robot.
