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Plan-based Object S...
Plan-based Object Search and Exploration Using Semantic Spatial Knowledge in the Real World
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- Aydemir, Alper (författare)
- KTH,Datorseende och robotik, CVAP
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- Göbelbecker, Moritz (författare)
- Institut für Informatik, Albert-Ludwigs-Universität Freiburg, Germany
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- Pronobis, Andrzej (författare)
- KTH,Datorseende och robotik, CVAP
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visa fler...
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- Sjöö, Kristoffer (författare)
- KTH,Datorseende och robotik, CVAP
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- Jensfelt, Patric (författare)
- KTH,Datorseende och robotik, CVAP
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visa färre...
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(creator_code:org_t)
- 2011
- 2011
- Engelska.
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Ingår i: Proc. of the European Conference on Mobile Robotics (ECMR'11).
- Relaterad länk:
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https://urn.kb.se/re...
Abstract
Ämnesord
Stäng
- In this paper we present a principled planner based approach to the active visual object search problem in unknown environments. We make use of a hierarchical planner that combines the strength of decision theory and heuristics. Furthermore, our object search approach leverages on the conceptual spatial knowledge in the form of object cooccurences and semantic place categorisation. A hierarchical model for representing object locations is presented with which the planner is able to perform indirect search. Finally we present real world experiments to show the feasibility of the approach.
Ämnesord
- NATURVETENSKAP -- Data- och informationsvetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences (hsv//eng)
Nyckelord
- Active Sensing
- Object Search
- Semantic Mapping
Publikations- och innehållstyp
- ref (ämneskategori)
- kon (ämneskategori)