We conducted experiments where the robot has to actively perceive partially occluded objects which showed that considering object detection results when planning the next view can help finding more objects.

We integrated the components developed in ActReMa into a bin-picking application, performed by the cognitive service robot Cosero at UBO. The robot navigates to the transport box, aligns to it, acquires 3D scans, recognizes objects, plans grasps, executes the grasping, navigates to a processing station, and places the object there.