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Search in the real world: Active visual object search based on spatial relations
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. (CAS/CVAP/CSC)ORCID iD: 0000-0002-7796-1438
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.
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2011 (English)In: IEEE International Conference on Robotics and Automation (ICRA), 2011, IEEE , 2011, 2818-2824 p.Conference paper (Refereed)
Abstract [en]

Objects are integral to a robot’s understandingof space. Various tasks such as semantic mapping, pick-andcarrymissions or manipulation involve interaction with objects.Previous work in the field largely builds on the assumption thatthe object in question starts out within the ready sensory reachof the robot. In this work we aim to relax this assumptionby providing the means to perform robust and large-scaleactive visual object search. Presenting spatial relations thatdescribe topological relationships between objects, we thenshow how to use these to create potential search actions. Weintroduce a method for efficiently selecting search strategiesgiven probabilities for those relations. Finally we performexperiments to verify the feasibility of our approach.

Place, publisher, year, edition, pages
IEEE , 2011. 2818-2824 p.
Keyword [en]
Humans, Robot sensing systems, Search problems, Service robots, Three dimensional displays
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-48836DOI: 10.1109/ICRA.2011.5980495ISI: 000324383402008ScopusID: 2-s2.0-84871678668ISBN: 978-1-61284-386-5OAI: oai:DiVA.org:kth-48836DiVA: diva2:458671
Conference
2011 IEEE International Conference on Robotics and Automation (ICRA), May 9-13, 2011, Shanghai, China
Projects
EU FP7 project CogX and the Swedish Research Council, contract 621-2006-4520
Note

© 2011 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. QC 20111216

Available from: 2011-12-16 Created: 2011-11-23 Last updated: 2014-09-30Bibliographically approved

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SearchREalWorld(783 kB)356 downloads
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Aydemir, AlperSjöö, KristofferFolkesson, JohnJensfelt, Patric
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