Abstract
This paper outlines the approach used by the b-it-bots team to win the 2023 RoboCup@Work World Championship in Bordeaux. We describe the updates in hardware and software since the last competition. We explain how we addressed the challenges in perception, grasping, and task planning resulting from new rules and an Advanced Object set. The main changes include an updated camera position, a new gripper, 2D object, and cavity detection, and point cloud-based free space detection. We discuss the advantages of our modifications and explain how it helped in solving the different tasks robustly. Our code and datasets are made public.
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The annotator has to click on an object, and potentially make minor modifications to the generated bounding box.
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Acknowledgement
We acknowledge the financial support of the Vice President of International Affairs and Diversity at Hochschule Bonn-Rhein-Sieg (H-BRS), the Computer Science department at H-BRS, the Student Committee (AStA) at H-BRS and the b-it Bonn-Aachen International Center for Information Technology. We would also like the acknowledge Chaitanya Gumudula, Kishan Sawant, Michał Stolarz, and Ibrahim Shakir Syed for their contribution to various aspects of the hardware and software development.
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Chenchani, G. et al. (2024). b-it-bots: Winners of RoboCup@Work 2023. In: Buche, C., Rossi, A., Simões, M., Visser, U. (eds) RoboCup 2023: Robot World Cup XXVI. RoboCup 2023. Lecture Notes in Computer Science(), vol 14140. Springer, Cham. https://doi.org/10.1007/978-3-031-55015-7_29
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