publications | Arul Selvam Periyasamy

2026

Efficient Methods for Learning Visual Multi-object 6D Pose Estimation and Tracking

Arul Selvam Periyasamy

Ph.D. Dissertation, Rheinische Friedrich-Wilhelms-Universität Bonn, 2026

DOI HTML

2024

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

@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},
}

2023

Efficient multi-object pose estimation using multi-resolution deformable attention and query aggregation

Arul Selvam Periyasamy, Vladimir Tsaturyan, and Sven Behnke

In Seventh IEEE International Conference on Robotic Computing (IRC), 2023

Bib

@inproceedings{periyasamy2023efficient,
  title = {Efficient multi-object pose estimation using multi-resolution deformable attention and query aggregation},
  author = {Periyasamy, Arul Selvam and Tsaturyan, Vladimir and Behnke, Sven},
  booktitle = {Seventh IEEE International Conference on Robotic Computing (IRC)},
  pages = {247--254},
  year = {2023},
}

YOLOPose V2: Understanding and improving transformer-based 6D pose estimation

Arul Selvam Periyasamy, Arash Amini, Vladimir Tsaturyan, and 1 more author

Robotics and Autonomous Systems, 2023

Bib

@article{periyasamy2023yolopose,
  title = {YOLOPose V2: Understanding and improving transformer-based 6D pose estimation},
  author = {Periyasamy, Arul Selvam and Amini, Arash and Tsaturyan, Vladimir and Behnke, Sven},
  journal = {Robotics and Autonomous Systems},
  volume = {168},
  pages = {104490},
  year = {2023},
  publisher = {Elsevier},
}

Towards 3D scene understanding using differentiable rendering

Arul Selvam Periyasamy and Sven Behnke

SN Computer Science, 2023

Bib

@article{periyasamy2023towards,
  title = {Towards 3D scene understanding using differentiable rendering},
  author = {Periyasamy, Arul Selvam and Behnke, Sven},
  journal = {SN Computer Science},
  volume = {4},
  number = {3},
  pages = {245},
  year = {2023},
  publisher = {Springer},
}

2022

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

Arul Selvam Periyasamy, Luis Denninger, and Sven Behnke

In Sixth IEEE International Conference on Robotic Computing (IRC), 2022

Bib

@inproceedings{periyasamy2022learning,
  title = {Learning Implicit Probability Distribution Functions for Symmetric Orientation Estimation from RGB Images Without Pose Labels},
  author = {Periyasamy, Arul Selvam and Denninger, Luis and Behnke, Sven},
  booktitle = {Sixth IEEE International Conference on Robotic Computing (IRC)},
  pages = {221--228},
  year = {2022},
  organization = {IEEE},
}

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},
}

ConvPoseCNN2: Prediction and Refinement of Dense 6D Object Poses

Arul Selvam Periyasamy, Catherine Capellen, Max Schwarz, and 1 more author

Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP), 2022

Bib

@article{periyasamy2022convposecnn2,
  title = {ConvPoseCNN2: Prediction and Refinement of Dense 6D Object Poses},
  author = {Periyasamy, Arul Selvam and Capellen, Catherine and Schwarz, Max and Behnke, Sven},
  journal = {Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP)},
  year = {2022},
}

Iterative 3D Deformable Registration from Single-view RGB Images using Differentiable Rendering.

Arul Selvam Periyasamy, Max Schwarz, and Sven Behnke

In VISIGRAPP (5: VISAPP), 2022

Bib

@inproceedings{periyasamy2022iterative,
  title = {Iterative 3D Deformable Registration from Single-view RGB Images using Differentiable Rendering.},
  author = {Periyasamy, Arul Selvam and Schwarz, Max and Behnke, Sven},
  booktitle = {VISIGRAPP (5: VISAPP)},
  pages = {107--116},
  year = {2022},
}

Autonomous Wall-building and Firefighting: Team NimbRo’s UGV Solution for MBZIRC 2020

Christian Lenz, Jan Quenzel, Arul Selvam Periyasamy, and 7 more authors

Field Robotics, vol. 2, pp. 55-74, 2022

Bib

@article{lenz2021team,
  title = {Autonomous Wall-building and Firefighting: Team NimbRo’s UGV Solution for MBZIRC 2020},
  author = {Lenz, Christian and Quenzel, Jan and Periyasamy, Arul Selvam and Razlaw, Jan and Rochow, Andre and Splietker, Malte and Schreiber, Michael and Schwarz, Max and S{\"u}berkr{\"u}b, Finn and Behnke, Sven},
  journal = {Field Robotics, vol. 2, pp. 55-74},
  year = {2022},
}

2021

T6D-Direct: Transformers for multi-object 6D pose direct regression

Arash Amini, Arul Selvam Periyasamy, and Sven Behnke

In DAGM German Conference on Pattern Recognition (GCPR), 2021

Bib

@inproceedings{amini2021t6d,
  title = {T6D-Direct: Transformers for multi-object 6D pose direct regression},
  author = {Amini, Arash and Periyasamy, Arul Selvam and Behnke, Sven},
  booktitle = {DAGM German Conference on Pattern Recognition (GCPR)},
  pages = {530--544},
  year = {2021},
  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},
}

2020

Autonomous wall building with a UGV-UAV team at MBZIRC 2020

Christian Lenz, Max Schwarz, Andre Rochow, and 4 more authors

In IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2020

Bib

@inproceedings{lenz2020autonomous,
  title = {Autonomous wall building with a UGV-UAV team at MBZIRC 2020},
  author = {Lenz, Christian and Schwarz, Max and Rochow, Andre and Razlaw, Jan and Periyasamy, Arul Selvam and Schreiber, Michael and Behnke, Sven},
  booktitle = {IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)},
  pages = {189--196},
  year = {2020},
}

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

Tobias Klamt, Max Schwarz, Christian Lenz, and 8 more authors

Journal of Field Robotics, 2020

Bib

@article{klamt2020remote,
  title = {Remote mobile manipulation with the centauro robot: Full-body telepresence and autonomous operator assistance},
  author = {Klamt, Tobias and Schwarz, Max and Lenz, Christian and Baccelliere, Lorenzo and Buongiorno, Domenico and Cichon, Torben and DiGuardo, Antonio and Droeschel, David and Gabardi, Massimiliano and Kamedula, Malgorzata and others},
  journal = {Journal of Field Robotics},
  volume = {37},
  number = {5},
  pages = {889--919},
  year = {2020},
  publisher = {Wiley Online Library},
}

2019

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},
}

Team NimbRo at MBZIRC 2017: Autonomous valve stem turning using a wrench

Max Schwarz, David Droeschel, Christian Lenz, and 7 more authors

Journal of Field Robotics (JFR), 2019

Bib

@article{schwarz2019team,
  title = {Team NimbRo at MBZIRC 2017: Autonomous valve stem turning using a wrench},
  author = {Schwarz, Max and Droeschel, David and Lenz, Christian and Periyasamy, Arul Selvam and Puang, En Yen and Razlaw, Jan and Rodriguez, Diego and Sch{\"u}ller, Sebastian and Schreiber, Michael and Behnke, Sven},
  journal = {Journal of Field Robotics (JFR)},
  volume = {36},
  number = {1},
  pages = {170--182},
  year = {2019},
  publisher = {Wiley Online Library},
}

2018

Robust 6D object pose estimation in cluttered scenes using semantic segmentation and pose regression networks

Arul Selvam Periyasamy, Max Schwarz, and Sven Behnke

In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018

Bib

@inproceedings{periyasamy2018robust,
  title = {Robust 6D object pose estimation in cluttered scenes using semantic segmentation and pose regression networks},
  author = {Periyasamy, Arul Selvam and Schwarz, Max and Behnke, Sven},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {6660--6666},
  year = {2018},
}

Fast object learning and dual-arm coordination for cluttered stowing, picking, and packing

Max Schwarz, Christian Lenz, Germán Martı́n Garcı́a, and 4 more authors

In IEEE International Conference on Robotics and Automation (ICRA), 2018

Bib

@inproceedings{schwarz2018fast,
  title = {Fast object learning and dual-arm coordination for cluttered stowing, picking, and packing},
  author = {Schwarz, Max and Lenz, Christian and Garc{\'\i}a, Germ{\'a}n Mart{\'\i}n and Koo, Seongyong and Periyasamy, Arul Selvam and Schreiber, Michael and Behnke, Sven},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {3347--3354},
  year = {2018},
}

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},
}

2017

Nimbro picking: Versatile part handling for warehouse automation

Max Schwarz, Anton Milan, Arul Selvam Periyasamy, and 5 more authors

In IEEE International Conference on Robotics and Automation (ICRA), 2017

Bib

@inproceedings{schwarz2017nimbro,
  title = {Nimbro picking: Versatile part handling for warehouse automation},
  author = {Schwarz, Max and Milan, Anton and Periyasamy, Arul Selvam and Lenz, Christian and Munoz, Aura and Schreiber, Michael and Sch{\"u}ller, Sebastian and Behnke, Sven},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {3032--3039},
  year = {2017},
  organization = {IEEE},
}

2016

Supervised autonomy for exploration and mobile manipulation in rough terrain with a centaur-like robot

Max Schwarz, Marius Beul, David Droeschel, and 5 more authors

Frontiers in Robotics and AI, 2016

Bib

@article{schwarz2016supervised,
  title = {Supervised autonomy for exploration and mobile manipulation in rough terrain with a centaur-like robot},
  author = {Schwarz, Max and Beul, Marius and Droeschel, David and Sch{\"u}ller, Sebastian and Periyasamy, Arul Selvam and Lenz, Christian and Schreiber, Michael and Behnke, Sven},
  journal = {Frontiers in Robotics and AI},
  volume = {3},
  pages = {57},
  year = {2016},
  publisher = {Frontiers Media SA},
}