[robotics-worldwide] [software] Open-Source Release: Bayesian Articulated Object Tracking + Meet us at ICRA ‘17

Jeannette Bohg jbohg at tue.mpg.de
Mon May 29 07:59:42 PDT 2017


Dear colleagues,
 
We are very happy to announce the release of open-source code and data sets for Bayesian articulated object tracking! The C++ library supports 3D tracking of rigid objects (using depth images), as well as full robot arm pose estimation (using depth images and joint encoders). The data sets allow the quantitative evaluation of alternative approaches thanks to accurate ground-truth annotations.
 
Part of the work that went into this library is nominated for the Best Vision paper at ICRA ‘17. Come to talk to us at our poster (TUA3.7) and at our late-breaking results session (#22) showing a robotic manipulation system endowed with precise and robust hand-eye coordination.
 
Open-Source Code: https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_bayesian-2Dobject-2Dtracking_getting-5Fstarted&d=DwIFaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=7BtfUHAHVpJhlgenjpI-BY6N77ahOeHyVd2uiLSpIyE&s=g1Sbe7FIUBR5NhbOohvGAP0b_3-jBn4_Kvhw2TLV60Q&e= 
 
Videos:
* Arm Tracking: https://urldefense.proofpoint.com/v2/url?u=https-3A__youtu.be_YNP9UCx6Wa4&d=DwIFaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=7BtfUHAHVpJhlgenjpI-BY6N77ahOeHyVd2uiLSpIyE&s=4-5AINOQ6NIB0FBMzvuFZJ_IDqvGEyMnz5CoKAa6Ewc&e= 
* Object Tracking: https://urldefense.proofpoint.com/v2/url?u=https-3A__youtu.be_7KNt2L5-5FjTU&d=DwIFaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=7BtfUHAHVpJhlgenjpI-BY6N77ahOeHyVd2uiLSpIyE&s=hiQImAYQJc-uNynSquxBjB6SNVsVcjz9zMjCBZQAwp0&e= 
* Simultaneous Object & Arm Tracking: https://urldefense.proofpoint.com/v2/url?u=https-3A__www.youtube.com_watch-3Fv-3DHpUUqcHzsII&d=DwIFaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=7BtfUHAHVpJhlgenjpI-BY6N77ahOeHyVd2uiLSpIyE&s=054_FPT3QoXwDz9BH7NzkQOLEKhZet4v9qISMMZLwfo&e= 
 
Data sets:
* Arm Tracking: https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_bayesian-2Dobject-2Dtracking_robot-5Ftracking-5Fdataset&d=DwIFaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=7BtfUHAHVpJhlgenjpI-BY6N77ahOeHyVd2uiLSpIyE&s=-Ppz3-lOIEhj-XWjl9_a_dBsRW6HO8sevUDH1cktBdc&e= 
* Object Tracking: https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_bayesian-2Dobject-2Dtracking_object-5Ftracking-5Fdataset&d=DwIFaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=7BtfUHAHVpJhlgenjpI-BY6N77ahOeHyVd2uiLSpIyE&s=mN7EK0N2bUOGqizHBYMm95vEtn54p9emFqTCIjCjvbo&e= 
 
More on our research: 
https://urldefense.proofpoint.com/v2/url?u=https-3A__am.is.tuebingen.mpg.de_research-5Fprojects_probabilistic-2Dobject-2Dtracking-2Dusing-2Da-2Ddepth-2Dcamera&d=DwIFaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=7BtfUHAHVpJhlgenjpI-BY6N77ahOeHyVd2uiLSpIyE&s=pjnYLCZtEgcUUInQTkfftfEnrU6Wy8G1OgaJtCy-HRg&e= 
 
All feedback is very welcome!
 
Cristina Garcia Cifuentes, Jan Issac, Manuel Wüthrich and Jeannette Bohg

*********************************************************
Jeannette Bohg
Senior Research Scientist 
Autonomous Motion Department
MPI for Intelligent Systems
https://urldefense.proofpoint.com/v2/url?u=https-3A__am.is.tuebingen.mpg.de_person_jbohg&d=DwIFaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=7BtfUHAHVpJhlgenjpI-BY6N77ahOeHyVd2uiLSpIyE&s=kRSzNkagLSmi52kg6wmaWXYA6LMYre6K5ZJUscGikaE&e= 
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