Software Components

You can find an overview of all major software packages below. For general questions relating to RoboEarth software, please use the RoboEarth mailing list. For questions related to usage, feature requests, suggestions and general discussions on the RoboEarth Cloud Engine, please use the RoboEarth Cloud Engine Google groups.


KnowRob is a knowledge processing system that combines knowledge representation and reasoning methods with techniques for acquiring knowledge and for grounding the knowledge in a physical system. It can serve as a common semantic framework for integrating information from different sources and is used in RoboEarth as local knowledge base on the robot.



The RoboEarth Cloud Engine is an open source Platform-as-a-Service (Paas) framework designed specifically for robotics applications. It helps robots to offload heavy computation by providing secure customizable computing environments in the cloud. The RoboEarth Cloud Engine’s nick name is “Rapyuta”, after the castle in the sky inhabited by robots featured in the Japanese movie Tenkū no Shiro Rapyuta.

Rapyuta’s computing environments allow robots to easily access the RoboEarth knowledge repository. Furthermore, they are tightly interconnected, paving the way for deployment of robot teams.




The RoboEarth Database is a WWW-style database based on Apache Hadoop. We recommend to use the RoboEarth platform at, which allows you to participate in a community of users who share data about environments, actions, and objects.


Object Detector

This set of ROS packages allow both users and robots to create a point cloud model from an object using a Kinect camera and a marker pattern, to store the resulting model in the RoboEarth knowledge repository, and to later download object models and use them for object detection.



The WIRE stack allows to generate and maintain one consistent world state estimate based on object detections. It solves the data association problem by maintaining multiple hypotheses and facilitates tracking of various object attributes.