학술논문
Plan-based Object Search and Exploration Using Semantic Spatial Knowledge in the Real World
Document Type
Source
Proc. of the European Conference on Mobile Robotics (ECMR'11).
Subject
Language
English
Abstract
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.