论文标题
图书馆员Trixi
Trixi the Librarian
论文作者
论文摘要
在这项工作中，我们提出了一个三部分的系统，该系统可以使用PR-2平台在架子上自动对书进行分类。本文描述了一种基于深度学习模型以及常规计算机视觉的多步视觉管道充分检测和识别书籍的方法。此外，正在解决使用双手机器人以及基于Moveit和Bioik的解决方案重新定位书籍的困难。实验表明，性能总体上足够出色，可以在架子上反复对三本书进行分类。然而，正在讨论进一步的改进，有可能导致更强大的书籍识别和更通用的操纵技术。
In this work, we present a three-part system that automatically sorts books on a shelf using the PR- 2 platform. The paper describes a methodology to sufficiently detect and recognize books using a multistep vision pipeline based on deep learning models as well as conventional computer vision. Furthermore, the difficulties of relocating books using a bi-manual robot along with solutions based on MoveIt and BioIK are being addressed. Experiments show that the performance is overall good enough to repeatedly sort three books on a shelf. Nevertheless, further improvements are being discussed, potentially leading to a more robust book recognition and more versatile manipulation techniques.
