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Enhanced Visual Sce...
Enhanced Visual Scene Understanding through Human-Robot Dialog
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- Johnson-Roberson, Matthew (author)
- KTH,Datorseende och robotik, CVAP,Centrum för Autonoma System, CAS
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- Bohg, Jeannette, 1981- (author)
- KTH,Datorseende och robotik, CVAP,Centrum för Autonoma System, CAS
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- Skantze, Gabriel (author)
- KTH,Tal, musik och hörsel, TMH
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- Gustafsson, Joakim (author)
- KTH,Tal, musik och hörsel, TMH
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- Carlson, Rolf (author)
- KTH,Tal, musik och hörsel, TMH
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- Kragic, Danica (author)
- KTH,Datorseende och robotik, CVAP,Centrum för Autonoma System, CAS
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- Rasolzadeh, Babak (author)
- KTH,Datorseende och robotik, CVAP,Centrum för Autonoma System, CAS
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(creator_code:org_t)
- IEEE, 2011
- 2011
- English.
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In: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems. - : IEEE. - 9781612844541 ; , s. 3342-3348
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Abstract
Subject headings
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- We propose a novel human-robot-interaction framework for robust visual scene understanding. Without any a-priori knowledge about the objects, the task of the robot is to correctly enumerate how many of them are in the scene and segment them from the background. Our approach builds on top of state-of-the-art computer vision methods, generating object hypotheses through segmentation. This process is combined with a natural dialog system, thus including a ‘human in the loop’ where, by exploiting the natural conversation of an advanced dialog system, the robot gains knowledge about ambiguous situations. We present an entropy-based system allowing the robot to detect the poorest object hypotheses and query the user for arbitration. Based on the information obtained from the human-robot dialog, the scene segmentation can be re-seeded and thereby improved. We present experimental results on real data that show an improved segmentation performance compared to segmentation without interaction.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)
Keyword
- Service Robotics
- Human-Robot Dialog
- Machine Learning
- Segmentation
Publication and Content Type
- ref (subject category)
- kon (subject category)
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