ICRA2010 Workshop

The workshop will be held on the IEEE International Conference on Robotics and Automation (ICRA2010) in Anchorage, Alaska, May 3, 2010.
Location: Dena'ina Center, Kahtnu 1


Best Practice in 3D Perception and Modeling for Mobile Manipulation


In this full−day workshop we will try to identify the state of the art of 3D perception and modeling algorithms for mobile manipulation. We will develop an approach for harmonizing, what are considered the best practice algorithms for 3D perception and modeling by the community. Harmonizing robotics algorithms, so that they are easily replaceable by another one, is often not understood as a fundamental scientific problem, but rather a software engineering task. This view is not correct. Although there is a substantial amount of software engineering effort involved in this activity, there is also a number of fundamental scientific issues that need to be addressed.


08:45 - 09:00   Introduction
09:00 - 09:30   Gary Bradsky:
Open Computer Vision Library
9:30 - 10:00   Andreas Nuechter, Jan Elseberg:
Towards Semantic Maps for Mobile Robots
10:00 - 10:30   Radu Bogdan Rusu :
Point Cloud Library
10:30 - 11:00   Coffee Break
11:00 - 11:30   Sebastian Blumenthal, Alexey Zakharov:
Towards harmonized data−types for 3D perception and modeling
11:30 - 12:00   T. Mörwald, J. Prankl, A. Richtsfeld, M. Zillich and M. Vincze:
BLORT − The Blocks World Robotic Vision
11:30 - 12:00   Thilo Grundmann, Robert Eidenberger, Martin Schneider, Michael Fiegert and Georg v. Wichert:
Robust high precision 6D pose determination in complex environments for robotic manipulation
12:30 - 14:00   Lunch
14:00 - 14:30   Michael Krainin, Peter Henry, Xiaofeng Ren, and Dieter Fox:
Manipulator and Object Tracking for In Hand Model Acquisition
14:30 - 15:00   Georg Arbeiter, Jan Fischer and Alexander Verl:
3D Perception and Modeling for Manipulation on Care−O−bot® 3
15:00 - 15:30   Markus Eich, Malgorzata Dabrowska, and Frank Kirchner:
Semantic Labeling Classification of 3D Entities Based on Spatial Feature Descriptors
15:30 - 16:00   Kai M. Wurm, Armin Hornung, Maren Bennewitz, Cyrill Stachniss and Wolfram Burgard:
Octomap: A Probabilistic, Flexible, and Compact 3D Map Representation for Robotic Systems
16:00 - 17:00   Open discussion
17:00 - 17:15   Wrap−up

Motivation and objectives

Although robotics research and development has made significant progress and reached outstanding results in the past 10 to 15 years, the development of new robot systems and applications has remained a challenge taking significant time and effort. This is not only due to the complexity of these systems but also to the fact that new robot systems or applications are typically highly specialized, unique, and developed from scratch.

Little attention has been paid to the creation of easily configurable, re−usable, interoperable components and solutions. Frequently, these specialized developments elude any non−trivial performance evaluation and comparison. The situation for the development of robotic control software and also for development tools is not much different. This leads to excessively high development costs and times, long innovation and production cycles, moderate system robustness or short to a significant waste of resources.

Together with interested people we would like to discuss a general framework that can be applied to a hopefully large number of robotic tasks and algorithms in 3D Perception and Modeling, and not only to one or two. The challenge is to make such a framework sustainable, so that it accommodates not only existing algorithms but also future developments, and the key challenge is to make this framework really appealing to the robotics community.

List of topics

The list of topics of interest includes, but are not necessary limited to:

Intended audience

Researchers and R&D engineers working in the fields of personal robotics, robot perception, mobile manipulation as well as robotics middleware. We also hope to attract a large audience of student researchers (graduate students) interested in the above mentioned topics.

Relation to the previous IROS or ICRA workshops

Our goal is to link the workshop to previous events held at prestigious conferences in the mobile robotics field, including:

Important dates


We solicit paper submissions, optionally accompanied by a video, both of which will be reviewed (not double−blind) by the program committee. The review criteria will be: technical quality, significance of system demonstration, and topicality. We aim to accept 9 to 12 papers for oral presentation at the meeting. Videos will be shown during an afternoon session open to the public. Accepted papers and videos will be assembled into proceedings and distributed in CD format at the workshop. If there is sufficient interest, we will pursue publication of a special journal issue or a book to include extended versions of the best papers. Papers should be in PDF, conform to the IEEE requirements, and be maximum of 8 pages in length (shorter papers are welcome). Videos should be in the MPEG format, 3 to 5 minutes in length, and easily viewed with free video players (please try playing your video on a couple of different machines before submitting).

Email submissions to: ICRA2010−3D(at)best−of−robotics.org. Please do not attach video files to email; include a URL instead.

Program Committee