FBM1 - “Object Perception”

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To be updated for the 2015 RoCKIn Competition

Location

This benchmark takes place on the FBM table. The reference system for the table is defined by visual markers.

List of objects and associated frames

The variation space for this FBM is represented by the set of objects that the robot may be presented with in the following table:

Object Classes/Instances:

Object Classes Object Instances
[a]: Mugs [a1]: Large black mug [IKEA Code: 401.439.93]
[a2]: Small white mug with yellow dots [IKEA Code: 702.348.97]
[a3]: Coffee mugs [IKEA Code: 001.525.50]
[a4]: Black jug [IKEA Code: 602.936.08]
[b]: Forks and knives [b1]: Fork [IKEA Code 101.858.52]
[b2]: Knife [IKEA code 901.929.62]
[c]: Boxes [c1]: Yellow [IKEA Code: 200.474.50]
[c2]: Pink [IKEA Code: 200.474.50]
[d]: Picture frame [d1]: Gold-color frame [IKEA Code: 402.323.95]
[d2]: Small black picture frame [IKEA Code: 601.674.93]

Variation space for object location is the surface of the benchmarking setup area where objects are located.


Associated Frames (pictures with the corresponding representation can be downloaded "here"):

[a] Associated frame on the bottom plane of the mug with (see figures "here") with:

  • Z-axis perpendicular to the “table” (surface upon which the object lies), pointed upward and coincident with the axis of symmetry of the mug (without taking into account the mug handle).
  • XY plane on the “table” with x-axis pointing to the mug handle.

[b] Associated frame on the bottom of the knife/fork (see figures "here") with:

  • Z-axis perpendicular to the “table” (surface upon which the object lies), pointed upwards.
  • XY plane on the “table” with x-axis pointing to the top part of the knife/fork.

[c] Associated frame on a top corner of the box (see figures "here") with:

  • Z-axis perpendicular to the “table” (surface upon which the object lies), pointed upwards;
  • XY plane on the “table” with x-axis pointing to the smallest vertex of the box;
  • X and Y axis must be coincident with vertices of the object (selection of the right corner);
  • Note that the objects are not symmetrical. On one side there are a couple of hinges that teams should identify to remove ambiguities.

[d] Associated frame on a corner of the picture frame plane (see figures "here") with:

  • Z-axis perpendicular to the “table” (surface upon which the object lies), pointed upwards;
  • XY plane on the “table” with x-axis pointing to the smallest vertex of the picture plane;
  • X and Y-axis must be coincident with vertices of the object (selection of the right corner);
  • To remove the ambiguity, teams should identify the RoCKIn logo (pictures for both frames can be downloaded "here"). (Commment from POLIMI: Should we specify it will be in a portrait manner?)