Trixi the Librarian
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Abstract (arXiv)
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.
Key facts. No citing papers in the map yet (data through 14 Oct 2026). Builds on 9 of its 34 references that are in the map. First posted on arXiv 18 Oct 2022.
Builds on
9 of 34 references.
References · 9
- 2015Deep Residual Learning for Image Recognitioncited by 52,096
- 2014Microsoft COCO: Common Objects in Contextcited by 17,608
- 2015You Only Look Once: Unified, Real-Time Object Detectioncited by 4,852
- 2015Fast R-CNNcited by 2,933
- 2019Character Region Awareness for Text Detectioncited by 278
- 2019What Is Wrong With Scene Text Recognition Model Comparisons? Dataset and Model Analysiscited by 191
- 2017Focusing Attention: Towards Accurate Text Recognition in Natural Imagescited by 110
- 2014Reducing the Barrier to Entry of Complex Robotic Software: a MoveIt! Case Studycited by 89
- 2021Bimanual Shelf Picking Planner Based on Collapse Predictioncited by 3
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