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Mechanical support as a spatial abstraction for mobile robots
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.
Vise andre og tillknytning
2010 (engelsk)Inngår i: IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), 2010, s. 4894-4900Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

Motivated by functional interpretations of spatial language terms, and the need for cognitively plausible and practical abstractions for mobile service robots, we present a spatial representation based on the physical support of one object by another, corresponding to the preposition "on". A perceptual model for evaluating this relation is suggested, and experiments-simulated as well as using a real robot -are presented. We indicate how this model can be used for important tasks such as communication of spatial knowledge, abstract reasoning and learning, taking as an example direct and indirect visual search. We also demonstrate the model experimentally and show that it produces intuitively feasible results from visual scene analysis as well as synthetic distributions that can be put to a number of uses.

sted, utgiver, år, opplag, sider
2010. s. 4894-4900
Serie
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
Emneord [en]
Functional interpretations, Mechanical support, Mobile service robots, Perceptual model, Real robot, Spatial abstractions, Spatial knowledge, Spatial language, Spatial representations, Visual scene, Visual search, Abstracting, Computer simulation, Mobile robots, Visual communication
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-32010DOI: 10.1109/IROS.2010.5653082ISI: 000287672004074Scopus ID: 2-s2.0-78651487939ISBN: 978-1-4244-6675-7 (tryckt)OAI: oai:DiVA.org:kth-32010DiVA, id: diva2:409158
Konferanse
IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, TAIWAN, OCT 18-22, 2010
Forskningsfinansiär
EU, FP7, Seventh Framework Programme, CogXSwedish Research Council, 621-2006-4520
Merknad

QC 20110407

Tilgjengelig fra: 2011-04-07 Laget: 2011-04-04 Sist oppdatert: 2018-01-12bibliografisk kontrollert

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Totalt: 59 treff
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