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Plan-based Object Search and Exploration Using Semantic Spatial Knowledge in the Real World
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.
Institut für Informatik, Albert-Ludwigs-Universität Freiburg, Germany.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0002-1396-0102
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.
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2011 (English)In: Proc. of the European Conference on Mobile Robotics (ECMR'11), 2011Conference paper, Published paper (Refereed)
Abstract [en]

In this paper we present a principled planner based approach to the active visual object search problem in unknown environments. We make use of a hierarchical planner that combines the strength of decision theory and heuristics. Furthermore, our object search approach leverages on the conceptual spatial knowledge in the form of object cooccurences and semantic place categorisation. A hierarchical model for representing object locations is presented with which the planner is able to perform indirect search. Finally we present real world experiments to show the feasibility of the approach.

Place, publisher, year, edition, pages
2011.
Keywords [en]
Active Sensing, Object Search, Semantic Mapping
National Category
Computer and Information Sciences
Identifiers
URN: urn:nbn:se:kth:diva-51141OAI: oai:DiVA.org:kth-51141DiVA, id: diva2:463500
Conference
ECMR 2011 in Örebro, Sweden, Sep 7-9, 2011
Note
QC 20111213Available from: 2011-12-09 Created: 2011-12-09 Last updated: 2018-01-12Bibliographically approved

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Pronobis, AndrzejJensfelt, Patric

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