Arul Selvam Periyasamy

I am a Research Scientist in Edge Computing at Siemens AG. Previously, I earned my Ph.D. at the University of Bonn within the Autonomous Intelligent Systems group, led by Prof. Dr. Sven Behnke. I also hold a Master’s in Computer Science from the same institution. As a member of Team NimbRo and Team NimbRo Picking, I have contributed to developing award-winning robots that achieved success in several international competitions. Explore my list of publications, robotics competition history, or CV for more details.

news

Feb 01, 2026	Starting a new position at Siemens AG as a research scientist in Edge Computing.
Jan 22, 2026	Successfully defended my Ph.D. thesis at the Institute for Computer Science, Faculty of Mathematics and Natural Sciences, University of Bonn.
Feb 01, 2024	Starting a new position at Siemens AG as a postdoctoral researcher in Edge Computing.

selected publications

MOTPose: Multi-object 6D Pose Estimation for Dynamic Video Sequences using Attention-based Temporal Fusion

Arul Selvam Periyasamy and Sven Behnke

In IEEE International Conference on Robotics and Automation (ICRA), 2024

Bib HTML Video

@inproceedings{periyasamy2024motpose,
  title = {MOTPose: Multi-object 6D Pose Estimation for Dynamic Video Sequences using Attention-based Temporal Fusion},
  author = {Periyasamy, Arul Selvam and Behnke, Sven},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {14606--14613},
  year = {2024},
}

YOLOPose: Transformer-based multi-object 6D pose estimation using keypoint regression

Arash Amini, Arul Selvam Periyasamy, and Sven Behnke

In International Conference on Intelligent Autonomous Systems, 2022

Best Paper Award Bib

Conference Best Paper Award

@inproceedings{amini2022yolopose,
  title = {YOLOPose: Transformer-based multi-object 6D pose estimation using keypoint regression},
  author = {Amini, Arash and Selvam Periyasamy, Arul and Behnke, Sven},
  booktitle = {International Conference on Intelligent Autonomous Systems},
  pages = {392--406},
  year = {2022},
  organization = {Springer},
}

Synpick: A dataset for dynamic bin picking scene understanding

Arul Selvam Periyasamy, Max Schwarz, and Sven Behnke

In 2021 IEEE 17th international conference on automation science and engineering (CASE), 2021

Bib HTML Video

@inproceedings{periyasamy2021synpick,
  title = {Synpick: A dataset for dynamic bin picking scene understanding},
  author = {Periyasamy, Arul Selvam and Schwarz, Max and Behnke, Sven},
  booktitle = {2021 IEEE 17th international conference on automation science and engineering (CASE)},
  pages = {488--493},
  year = {2021},
}

Refining 6D object pose predictions using abstract render-and-compare

Arul Selvam Periyasamy, Max Schwarz, and Sven Behnke

In IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), 2019

Bib

@inproceedings{periyasamy2019refining,
  title = {Refining 6D object pose predictions using abstract render-and-compare},
  author = {Periyasamy, Arul Selvam and Schwarz, Max and Behnke, Sven},
  booktitle = {IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)},
  pages = {739--746},
  year = {2019},
}

RGB-D object detection and semantic segmentation for autonomous manipulation in clutter

Max Schwarz, Anton Milan, Arul Selvam Periyasamy, and 1 more author

The International Journal of Robotics Research, 2018

Bib

@article{schwarz2018rgb,
  title = {RGB-D object detection and semantic segmentation for autonomous manipulation in clutter},
  author = {Schwarz, Max and Milan, Anton and Periyasamy, Arul Selvam and Behnke, Sven},
  journal = {The International Journal of Robotics Research},
  volume = {37},
  number = {4-5},
  pages = {437--451},
  year = {2018},
  publisher = {SAGE Publications Sage UK: London, England},
}