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Object search on a mobile robot using relational spatial information
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0002-1170-7162
2010 (English)In: Proc. of the 11th Int Conference on Intelligent Autonomous Systems (IAS-11), Amsterdam: IOS Press, 2010, 111-120 p.Conference paper, Published paper (Refereed)
Abstract [en]

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.
Keyword [en]
Indirect search, Active visual search, Spatial relations, Qualitative
National Category
Computer and Information Science
Identifiers
URN: urn:nbn:se:kth:diva-51165DOI: 10.3233/978-1-60750-613-3-111Scopus ID: 2-s2.0-84871638289ISBN: 978-1-60750-612-6 (print)OAI: oai:DiVA.org:kth-51165DiVA: diva2:463531
Conference
11th International Conference on Intelligent Autonomous Systems
Note

QC 20111213

Available from: 2011-12-09 Created: 2011-12-09 Last updated: 2016-05-23Bibliographically approved

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Jensfelt, Patric

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CiteExportLink to record
Permanent link

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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf