Search in the real world: Active visual object search based on spatial relations
2011 (English)In: IEEE International Conference on Robotics and Automation (ICRA), 2011, IEEE , 2011, 2818-2824 p.Conference paper (Refereed)
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.
Humans, Robot sensing systems, Search problems, Service robots, Three dimensional displays
IdentifiersURN: 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
2011 IEEE International Conference on Robotics and Automation (ICRA), May 9-13, 2011, Shanghai, China
ProjectsEU FP7 project CogX and the Swedish Research Council, contract 621-2006-4520
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