Arul Selvam Periyasamy

Computer Science M.Sc. at University of Bonn
PhD student at Autonomous Intelligent Systems Group

Address: 

   Rheinische Friedrich-Wilhelms-Universität Bonn
   Institut für Informatik VI
   Friedrich-Hirzebruch-Allee 8 ( visitor adress )
   Friedrich-Hirzebruch-Allee 5 ( post adress )
   53115 Bonn 

Tel:  +49 (0) 228-73-60796

Email: periyasa _at_ ais.uni-bonn.de

Office: 0.052

Reseach Interests

I am interested in representation, learning, and refinement of 6D object poses for scene understanding.

Publications

Arul Selvam Periyasamy, Arash Amini, Vladimir Tsaturyan, and Sven Behnke:
YOLOPose V2: Understanding and Improving Transformer-based 6D Pose Estimation
Robotics and Autonomous Systems, 168:104490, Elsevier, 2023.

Arul Selvam Periyasamy and Sven Behnke:
Towards 3D Scene Understanding Using Differentiable Rendering
SN Computer Science 4(3):245, March 2023.

Arul Selvam Periyasamy, Luis Denninger, and Sven Behnke:
Learning Implicit Probability Distribution Functions for Symmetric Orientation Estimation from RGB Images Without Pose Labels
IEEE International Conference on Robotic Computing (IRC), Naples, Italy, December 2022.

Arul Selvam Periyasamy, Arash Amini, and Sven Behnke:
YOLOPose: Transformer-based Multi-Object 6D Pose Estimation using Keypoint Regression
17th International Conference on Intelligent Autonomous Systems (IAS-17), Zagreb, Croatia, June 2022.
Best Paper Award

Arul Selvam Periyasamy, Max Schwarz, and Sven Behnke:
Iterative 3D Deformable Registration from Single-View RGB Images Using Differentiable Rendering
17th International Conference on Computer Vision Theory and Applications (VISAPP), February 2022.
Finalist for Student Paper Award

Arash Amini, Arul Selvam Periyasamy, and Sven Behnke:
T6D-Direct: Transformers for Multi-Object 6D Pose Direct Regression
In Proceedings of DAGM German Conference on Pattern Recognition (GCPR), Bonn, Germany, September 2021.
[Video]

Arul Selvam Periyasamy, Max Schwarz, and Sven Behnke:
SynPick: A Dataset for Dynamic Bin Picking Scene Understanding
In Proceedings of IEEE International Conference on Automation Science and Engineering (CASE), Lyon, France, August 2021.
[Project page with data set, code, and videos]

Christian Lenz, Jan Quenzel, Arul Selvam Periyasamy, Jan Razlaw, Andre Rochow, Malte Splietker, Michael Schreiber, Max Schwarz, Finn Süberkrüb, and Sven Behnke:
Team NimbRo’s UGV Solution for Autonomous Wall Building and Fire Fighting at MBZIRC 2020
Accepted for Field Robotics, to appear 2021.

Christian Lenz, Max Schwarz, Andre Rochow, Jan Razlaw, Arul Selvam Periyasamy, Michael Schreiber, and Sven Behnke:
Autonomous Wall Building with a UGV-UAV Team at MBZIRC 2020
In Proceedings of IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Abu Dhabi, UAE, November 2020.
[Videos]

Arul Selvam Periyasamy, Max Schwarz, and Sven Behnke:
Refining 6D Object Pose Prediction susing Abstract Render-and-Compare
IEEE-RAS International Conference on Humanoid Robots (Humanoids), Oral, Toronto, Canada, October 2019.

Tobias Klamt, Max Schwarz, Christian Lenz, Lorenzo Baccelliere, Domenico Buongiorno, Torben Cichon, Antonio DiGuardo, David Droeschel, Massimiliano Gabardi,
Malgorzata Kamedula, Navvab Kashiri, Arturo Laurenzi, Daniele Leonardis, Luca Muratore, Dmytro Pavlichenko, Arul S. Periyasamy, Diego Rodriguez,
Massimiliano Solazzi, Antonio Frisoli, Michael Gustmann, Jürgen Roßmann, Uwe Süss, Nikos G. Tsagarakis, and Sven Behnke:
Remote mobile manipulation with the Centauro robot: Full‐body telepresence and autonomous operator assistance
Journal of Field Robotics (JFR), Wiley, 2019.
[Video]

Max Schwarz, David Droeschel, Christian Lenz, Arul Selvam Periyasamy, En Yen Puang, Jan Razlaw, Diego Rodriguez, Sebastian Schüller, Michael Schreiber, and Sven Behnke:
Team NimbRo at MBZIRC 2017: Autonomous Valve Stem Turning using a Wrench
Journal of Field Robotics (JFR) 36(1):170-182, Wiley, January 2019.

Dmytro Pavlichenko, Diego Rodriguez, Max Schwarz, Christian Lenz, Arul Selvam Periyasamy, and Sven Behnke:
Autonomous Dual-Arm Manipulation of Familiar Objects
In Proceedings of IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), Beijing, China, November 2018.

Arul Selvam Periyasamy, Max Schwarz, and Sven Behnke:
Robust 6D Object Pose Estimation in Cluttered Scenes using Semantic Segmentation and Pose Regression Networks
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, October 2018.
[Video]

Max Schwarz, Christian Lenz, German Martin Garcia, Seongyong Koo, Arul Selvam Periyasamy, Michael Schreiber, and Sven Behnke:
Fast Object Learning and Dual-arm Coordination for Cluttered Stowing, Picking, and Packing
In Proceedings of  IEEE International Conference on Robotics and Automation (ICRA), pp. 3347-3354, Brisbane, Australia, May 2018.
[Video]

Max Schwarz, Anton Milan, Arul Selvam Periyasamy, and Sven Behnke:
RGB-D Object Detection and Semantic Segmentation for Autonomous Manipulation in Clutter
International Journal of Robotics Research (IJRR) 37(4-5):437-451, Sage Publications, 2018.

Max Schwarz, Anton Milan, Christian Lenz, Aura Munoz, Arul Selvam Periyasamy, Michael Schreiber, Sebastian Schüller, and Sven Behnke:
NimbRo Picking: Versatile Part Handling for Warehouse Automation
In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Singapore, May 2017.
Finalist for Best Automation Paper Award.
[Video] [Source]

Max Schwarz, Marius Beul, David Droeschel, Sebastian Schüller, Arul Selvam Periyasamy, Christian Lenz, Michael Schreiber, and Sven Behnke:
Supervised Autonomy for Exploration and Mobile Manipulation in Rough Terrain with a Centaur-like Robot
Frontiers in Robotics and AI, section Humanoid Robotics, vol. 3, article 57, October 2016.
DOI: 10.3389/frobt.2016.00057