b-it-bots: Winners of RoboCup@Work 2023
摘要
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.