Ändra sökning
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
Autonomous Question Answering with Mobile Robots in Human-Populated Environments
University of Washington, Seattle.
University of Washington, Seattle.ORCID-id: 0000-0002-1396-0102
University of Washington, Seattle.
University of Washington, Seattle.
Visa övriga samt affilieringar
2016 (Engelska)Ingår i: Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’16), IEEE, 2016Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

Autonomous mobile robots will soon become ubiquitous in human-populated environments. Besides their typical applications in fetching, delivery, or escorting, such robots present the opportunity to assist human users in their daily tasks by gathering and reporting up-to-date knowledge about the environment. In this paper, we explore this use case and present an end-to-end framework that enables a mobile robot to answer natural language questions about the state of a large-scale, dynamic environment asked by the inhabitants of that environment. The system parses the question and estimates an initial viewpoint that is likely to contain information for answering the question based on prior environment knowledge. Then, it autonomously navigates towards the viewpoint while dynamically adapting to changes and new information. The output of the system is an image of the most relevant part of the environment that allows the user to obtain an answer to their question. We additionally demonstrate the benefits of a continuously operating information gathering robot by showing how the system can answer retrospective questions about the past state of the world using incidentally recorded sensory data. We evaluate our approach with a custom mobile robot deployed in a university building, with questions collected from occupants of the building. We demonstrate our system's ability to respond to these questions in different environmental conditions.

Ort, förlag, år, upplaga, sidor
IEEE, 2016.
Serie
IEEE/RSJ International Conference on Intelligent Robots and Systems
Nyckelord [en]
Robotics
Nationell ämneskategori
Datorseende och robotik (autonoma system) Robotteknik och automation
Forskningsämne
Datalogi
Identifikatorer
URN: urn:nbn:se:kth:diva-214782DOI: 10.1109/IROS.2016.7759146Scopus ID: 2-s2.0-85006354936OAI: oai:DiVA.org:kth-214782DiVA, id: diva2:1143215
Konferens
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’16)
Projekt
VR Project 2012-4907 SKAEENet
Forskningsfinansiär
Vetenskapsrådet, 2012-4907
Anmärkning

QC 20170921

Tillgänglig från: 2017-09-21 Skapad: 2017-09-21 Senast uppdaterad: 2018-01-13Bibliografiskt granskad

Open Access i DiVA

Fulltext saknas i DiVA

Övriga länkar

Förlagets fulltextScopushttp://ieeexplore.ieee.org/document/7759146/

Sök vidare i DiVA

Av författaren/redaktören
Pronobis, Andrzej
Datorseende och robotik (autonoma system)Robotteknik och automation

Sök vidare utanför DiVA

GoogleGoogle Scholar

doi
urn-nbn

Altmetricpoäng

doi
urn-nbn
Totalt: 88 träffar
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf