Mechanical support as a spatial abstraction for mobile robots
2010 (English)In: IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), 2010, 4894-4900 p.Conference paper (Refereed)
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.
Place, publisher, year, edition, pages
2010. 4894-4900 p.
, IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
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
Computer and Information Science
IdentifiersURN: urn:nbn:se:kth:diva-32010DOI: 10.1109/IROS.2010.5653082ISI: 000287672004074ScopusID: 2-s2.0-78651487939ISBN: 978-1-4244-6675-7OAI: oai:DiVA.org:kth-32010DiVA: diva2:409158
IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, TAIWAN, OCT 18-22, 2010
FunderEU, FP7, Seventh Framework Programme, CogXSwedish Research Council, 621-2006-4520
QC 201104072011-04-072011-04-042016-05-23Bibliographically approved