Object search on a mobile robot using relational spatial information
2010 (English)In: Proc. of the 11th Int Conference on Intelligent Autonomous Systems (IAS-11), Amsterdam: IOS Press, 2010, 111-120 p.Conference paper (Refereed)
We present a method for utilising knowledge of qualitative spatial relations between objects in order to facilitate efficient visual search for those objects. A computational model for the relation is used to sample a probability distribution that guides the selection of camera views. Specifically we examine the spatial relation “on”, in the sense of physical support, and show its usefulness in search experiments on a real robot. We also experimentally compare different search strategies and verify the efficiency of so-called indirect search.
Place, publisher, year, edition, pages
Amsterdam: IOS Press, 2010. 111-120 p.
Indirect search, Active visual search, Spatial relations, Qualitative
Computer and Information Science
IdentifiersURN: urn:nbn:se:kth:diva-51165DOI: 10.3233/978-1-60750-613-3-111ScopusID: 2-s2.0-84871638289ISBN: 978-1-60750-612-6OAI: oai:DiVA.org:kth-51165DiVA: diva2:463531
11th International Conference on Intelligent Autonomous Systems
QC 201112132011-12-092011-12-092016-05-23Bibliographically approved