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arXiv · 2210.10110

Trixi the Librarian

Fabian Wieczorek·Shang-Ching Liu·Björn Sygo·Mykhailo Koshil
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Abstract

In this work, we present a three-part system that automatically sorts books on a shelf using the PR- 2 platform. The paper describes a methodology to sufficiently detect and recognize books using a multistep vision pipeline based on deep learning models as well as conventional computer vision. Furthermore, the difficulties of relocating books using a bi-manual robot along with solutions based on MoveIt and BioIK are being addressed. Experiments show that the performance is overall good enough to repeatedly sort three books on a shelf. Nevertheless, further improvements are being discussed, potentially leading to a more robust book recognition and more versatile manipulation techniques.

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BibTeXRIS

Fabian Wieczorek, Shang-Ching Liu, Björn Sygo, Mykhailo Koshil. 2022-10-18. Trixi the Librarian. https://arxiv.org/abs/2210.10110

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