Publications

YOLOPose V2: Understanding and Improving Transformer-based 6D Pose Estimation

Arul Selvam Periyasamy, Arash Amini, Vladimir Tsaturyan, and Sven Behnke
Published in Robotics and Autonomous Systems Journal, 168:104490, Elsevier., 2023

Learning Implicit Probability Distribution Functions for Symmetric Orientation Estimation from RGB Images Without Pose Labels

Arul Selvam Periyasamy, Luis Denniger, and Sven Behnke
Published in 6th IEEE International Conference on Robotic Computing (IRC), Naples, Italy., 2022

YOLOPose: Transformer-based Multi-Object 6D Pose Estimation using Keypoint Regression

Arul Selvam Periyasamy, Arash Amini, and Sven Behnke
Published in 17th International Conference on Intelligent Autonomous Systems (IAS-17), Zagreb, Croatia Best paper award, 2022

Iterative 3D Deformable Registration from Single-View RGB Images Using Differentiable Rendering

Arul Selvam Periyasamy, Max Schwarz, and Sven Behnke
Published in VISAPP Best Student paper award finalist, 2022

T6D-Direct: Transformers for Multi-Object 6D Pose Direct Regression

Arash Amini, Arul Selvam Periyasamy, and Sven Behnke
Published in DAGM German Conference on Pattern Recognition (GCPR), Bonn, Germany, 2021

SynPick: A Dataset for Dynamic Bin Picking Scene Understanding

Arul Selvam Periyasamy, Max Schwarz, and Sven Behnke
Published in IEEE International Conference on Automation Science and Engineering (CASE), Lyon, France, 2021

Team NimbRo’s UGV Solution for Autonomous Wall Building and Fire Fighting at MBZIRC 2020

Christian Lenz, Jan Quenzel, Arul Selvam Periyasamy, Jan Razlaw, Andre Rochow, Malte Splietker, Michael Schreiber, Max Schwarz, Finn Süberkrüb, and Sven Behnke
Published in Field Robotics, to appear, 2021

Autonomous Wall Building with a UGV-UAV Team at MBZIRC 2020

Christian Lenz, Max Schwarz, Andre Rochow, Jan Razlaw, Arul Selvam Periyasamy, Michael Schreiber, and Sven Behnke
Published in In Proceedings of IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Abu Dhabi, UAE, 2020

Refining 6D Object Pose Predictions using Abstract Render-and-Compare

Arul Selvam Periyasamy, Max Schwarz, and Sven Behnke
Published in IEEE-RAS International Conference on Humanoid Robots (Humanoids) [oral], Toronto, Canada, 2019

Remote mobile manipulation with the Centauro robot: Full-body telepresence and autonomous operator assistance

Tobias Klamt, Max Schwarz, Christian Lenz, Lorenzo Baccelliere, Domenico Buongiorno, Torben Cichon, Antonio DiGuardo, David Droeschel, Massimiliano Gabardi, Malgorzata Kamedula, Navvab Kashiri, Arturo Laurenzi, Daniele Leonardis, Luca Muratore, Dmytro Pavlichenko, Arul S. Periyasamy, Diego Rodriguez, Massimiliano Solazzi, Antonio Frisoli, Michael Gustmann, Jürgen Roßmann, Uwe Süss, Nikos G. Tsagarakis, and Sven Behnke
Published in Journal of Field Robotics (JFR), Wiley, 2019

Team NimbRo at MBZIRC 2017: Autonomous Valve Stem Turning using a Wrench

Max Schwarz, David Droeschel, Christian Lenz, Arul Selvam Periyasamy, En Yen Puang, Jan Razlaw, Diego Rodriguez, Sebastian Schüller, Michael Schreiber, and Sven Behnke:
Published in Journal of Field Robotics (JFR), Wiley, 2019

Autonomous Dual-Arm Manipulation of Familiar Objects

Dmytro Pavlichenko, Diego Rodriguez, Max Schwarz, Christian Lenz, Arul Selvam Periyasamy, and Sven Behnke
Published in In Proceedings of IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), Beijing, China, 2018

Robust 6D Object Pose Estimation in Cluttered Scenes using Semantic Segmentation and Pose Regression Networks

Arul Selvam Periyasamy, Max Schwarz, and Sven Behnke
Published in In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018

Fast Object Learning and Dual-arm Coordination for Cluttered Stowing, Picking, and Packing

Max Schwarz, Christian Lenz, German Martin Garcia, Seongyong Koo, Arul Selvam Periyasamy, Michael Schreiber, and Sven Behnke:
Published in In Proceedings of IEEE/RSJ International Conference on Robotics and Automation (ICRA), Brisbane, Australia, 2018

RGB-D Object Detection and Semantic Segmentation for Autonomous Manipulation in Clutter

Max Schwarz, Anton Milan, Arul Selvam Periyasamy, and Sven Behnke:
Published in International Journal of Robotics Research (IJRR), Sage Publications, 2018

NimbRo Picking: Versatile Part Handling for Warehouse Automation

Max Schwarz, Anton Milan, Christian Lenz, Aura Munoz, Arul Selvam Periyasamy, Michael Schreiber, Sebastian Schüller, and Sven Behnke:
Published in In Proceedings of IEEE/RSJ International Conference on Robotics and Automation (ICRA), Singapore, 2017

Supervised Autonomy for Exploration and Mobile Manipulation in Rough Terrain with a Centaur-like Robot

Max Schwarz, Marius Beul, David Droeschel, Sebastian Schüller, Arul Selvam Periyasamy, Christian Lenz, Michael Schreiber, and Sven Behnke
Published in Frontiers in Robotics and AI, section Humanoid Robotics, 2017