label_octomap

Probabilistic 3D Multilabel Real-time Mapping for Multi-object Manipulation (IROS2017)

Paper (IEEE) | Paper (Gdrive) | Video | Code | Slides

Citation

@InProceedings{Wada:etal:IROS2017,
  author={Kentaro Wada and Kei Okada and Masayuki Inaba},
  title={Probabilistic 3D Multilabel Real-time Mapping for Multi-object Manipulation},
  booktitle={Proceedings of the IEEE-RAS International Conference on Robotics and Systems (IROS)},
  year={2017},
}

Installation

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin init

wstool init src https://raw.githubusercontent.com/wkentaro/hrp2_apc/master/rosinstall
rosdep install --from-path . -r -y -i
catkin build

Usage

Pick the backward object in a shelf bin.

roslaunch label_octomap pick_backward_object.launch