Topological spatial relations for active visual search
Topological spatial relations for active visual search
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DOI：
10.1016/j.robot.2012.06.001
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发表时间：
2012-09-01
影响因子：
4.3
通讯作者：
Jensfelt, Patric
中科院分区：
文献类型：
--
作者：
Sjoo, Kristoffer;Aydemir, Alper;Jensfelt, Patric
如果机器人要在人类身边承担起人们期待已久的角色，并在我们部分结构化的环境中帮助我们，我们相信采用类似人类的认知模式将是有价值的。这种环境是人类偏好、活动和思想的产物;它们充满了语义。在本文中，我们调查定性空间关系的目的都感知这些语义，并使用语义感知。更具体地说，在本文中，我们介绍了两种常见拓扑空间关系“on”和“in”的一般感知测量，这些测量允许机器人根据这些关系评估对象配置（可能的或实际的）。我们还展示了如何这些空间关系可以被用来作为一种方式来指导视觉对象搜索。我们通过提供一种间接搜索的原则方法来做到这一点，在这种方法中，机器人可以利用对象之间的已知或假设的空间关系，通过首先寻找更容易找到的中间对象来显着提高搜索效率。我们解释了我们的设计，实施和实验设置，并提供了广泛的实验结果来支持我们的论文。(C)2012爱思唯尔有限公司版权所有。
If robots are to assume their long anticipated place by humanity's side and be of help to us in our partially structured environments, we believe that adopting human-like cognitive patterns will be valuable. Such environments are the products of human preferences, activity and thought; they are imbued with semantic meaning. In this paper we investigate qualitative spatial relations with the aim of both perceiving those semantics, and of using semantics to perceive. More specifically, in this paper we introduce general perceptual measures for two common topological spatial relations, "on" and "in", that allow a robot to evaluate object configurations, possible or actual, in terms of those relations. We also show how these spatial relations can be used as a way of guiding visual object search. We do this by providing a principled approach for indirect search in which the robot can make use of known or assumed spatial relations between objects, significantly increasing the efficiency of search by first looking for an intermediate object that is easier to find. We explain our design, implementation and experimental setup and provide extensive experimental results to back up our thesis. (C) 2012 Elsevier B.V. All rights reserved.