Team CVAP’s Picking System at the Amazon Picking Challenge 2015

In this paper we will present our framework used in the Amazon Picking Challenge in 2015 and some of the lessons learned that may prove useful to researchers and future teams participating in the competition. The competition proved to be a very useful occasion to integrate the work of various researchers at the Robotics, Perception and Learning laboratory of KTH, measure the performance of our robotics system and define the future direction of our research.