Table-top Rearrangement and Planning is a challenging problem that relies heavily on an excellent perception stack. The perception stack involves observing and registering the 3D scene on the table, detecting what objects are on the table, and how to manipulate them. Consequently, it greatly influences the system's task-planning and motion-planning stacks that follow. We present a comprehensive overview and discuss the different challenges associated with the perception module. This work is a result of our extensive involvement in the ICRA 2022 Open Cloud Robot Table Organization Challenge, in which we stood third in the final rankings.
翻译：桌面重组和规划是一个具有挑战性的问题,它在很大程度上依赖于一个极好的感知堆。感知堆包括观察和登记桌面上的三维场景,发现桌面上的物体,以及如何操纵它们。因此,它极大地影响了系统的任务规划和随后的运动规划堆。我们提出一个全面的概览,并讨论与感知模块相关的不同挑战。这项工作是我们广泛参与ICRA 2022 开放云形机器人表格组织挑战的结果,我们在这一挑战中在最后排名中位居第三位。
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