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Plan-based Object Search and Exploration Using Semantic Spatial Knowledge in the Real World

A. Aydemir, M. Göbelbecker, A. Pronobis, K. Sjöö, P. Jensfelt

In Proceedings of the 5th European Conference on Mobile Robots (ECMR), 2011.

About

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 cooccurrences and semantic place categorization. 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.

BibTeX

@inproceedings{aydemir2011ecmr,
  author =       {Aydemir, Alper and G\"obelbecker, Moritz and Pronobis, Andrzej and Sj\"o\"o, Kristoffer and Jensfelt, Patric},
  title =        {Plan-based Object Search and Exploration Using Semantic Spatial Knowledge in the Real World},
  booktitle =    {Proceedings of the 5th European Conference on Mobile Robots (ECMR)},
  year =         2011,
  month =        sep,
  address =      {\"{O}rebro, Sweden},
  url =          {http://www.pronobis.pro/publications/aydemir2011ecmr}
}
© 2018. Copyright Andrzej Pronobis
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