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New repository for OMIP - Online Multimodal Interactive Perception

Dear ROS users,

we (the Robotics and Biology Laboratory of the TU Berlin) are happy to announce our new repository OMIP (Online Multimodal Interactive Perception) on

The repository contains the code of the methods we presented at IROS14 ( and ICRA16 ( The method allows the robot to perceive from interactions and in an online manner, the moving bodies in its surroundings and to infer the underlying kinematic structure (and optionally also the shape) if they belong to articulated objects. The method uses an RGB-D stream as source of information. The code has been tested on Indigo (Ubuntu 14.04) and Kinetic (16.04).

Best regards,


Roberto Martin-Martin, PhD Candidate
Robotics and Biology lab (RBO)
Technische Universität Berlin (TUB)
Marchstrasse 23, MAR 5-1
10587 Berlin
+49(0)30 31473118