arXiv 1609.052582016-09cs.ROcs.AIcs.CVcs.SYeess.SY

ACRV 摘取基准 (APB)：一个促进可重复研究的机器人货架摘取基准

The ACRV Picking Benchmark (APB): A Robotic Shelf Picking Benchmark to Foster Reproducible Research

Australian Centre for Robotic Vision（澳大利亚机器人视觉中心）；Queensland University of Technology（昆士兰科技大学）；Amazon Robotics LLC（亚马逊机器人有限责任公司）；University of Adelaide（阿德莱德大学）

Jürgen Leitner, Adam W. Tow, Jake E. Dean, Niko Suenderhauf, Joseph W. Durham, Matthew Cooper, Markus Eich, Christopher Lehnert, Ruben Mangels, Christopher McCo… 展开作者

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

备注：: 8 pages, submitted to RA:Letters

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AI总结：

本文提出ACRV摘取基准(APB)，通过42个常见物品、广泛可用的货架和精确的物品排列指南，提供可重复的机器人摘取基准，支持完整机器人系统的比较。

摘要：

机器人挑战如亚马逊摘取挑战(APC)或DARPA挑战是推动科学进步的重要方式。它们使研究在明确的基准上进行比较，所有参与者享有相同的测试条件。然而，此类挑战事件仅偶尔举行，参赛人数有限，且测试条件难以在主事件后复制。我们提出一个新的物理基准挑战：ACRV摘取基准(APB)。该基准设计为可重复，包含42个常见物品、广泛可用的货架和精确的物品排列指南。明确的评估协议使完整机器人系统（包括感知和操作）的比较成为可能，而不仅仅是子系统。本文还描述并报告了基于Baxter机器人开放基线系统的实验结果。

英文摘要：

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.

机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。