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Andrzej Pronobis
UW KTH

Object Search Guided by Semantic Spatial Knowledge

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

In: RSS 2011 Workshop on Grounding Human-Robot Dialog for Spatial Tasks, 2011.

About

In this work we consider a mobile robot tasked with finding an object in an unknown office floor. Object search in realistic large environments is a crucial step for various mobile robot missions. We describe our spatial representation which grounds human-level spatial concepts in lower level representations for efficient informed object search and exploration. We present a principled planning approach to the visual search problem. Finally we perform real world experiments, in a larger and more complex environment than found in previous work.

BibTeX

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@inproceedings{aydemir2011rss-ghrdst,
  author =       {Aydemir, Alper and Pronobis, Andrzej and Sj\"{o}\"{o}, Kristoffer and G\"{o}belbecker, Moritz and Jensfelt, Patric},
  title =        {Object Search Guided by Semantic Spatial Knowledge},
  booktitle =    {RSS 2011 Workshop on Grounding Human-Robot Dialog for Spatial Tasks},
  year =         2011,
  address =      {Los Angeles, CA, USA},
  month =        jul,
  url =          {http://www.pronobis.pro/publications/aydemir2011rss-ghrdst}
}