Making sense of indoor spaces using semantic web mining and situated robot perception

Jay Young, Valerio Basile, Markus Suchi, Lars Kunze, Nick Hawes, Markus Vincze, Barbara Caputo

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Abstract

Intelligent Autonomous Robots deployed in human environments must have understanding of the wide range of possible semantic identities associated with the spaces they inhabit – kitchens, living rooms, bathrooms, offices, garages, etc. We believe robots should learn this information through their own exploration and situated perception in order to uncover and exploit structure in their environments – structure that may not be apparent to human engineers, or that may emerge over time during a deployment. In this work, we combine semantic webmining and situated robot perception to develop a system capable of assigning semantic categories to regions of space. This is accomplished by
looking at web-mined relationships between room categories and objects identified by a Convolutional Neural Network trained on 1000 categories. Evaluated on real-world data, we show that our system exhibits several conceptual and technical advantages over similar systems, and uncovers semantic structure in the environment overlooked by ground-truth annotators.
Original languageEnglish
Title of host publicationProceedings of 1st International Workshop on Application of Semantic Web Technologies in Robotics (AnSWeR '17)
EditorsEmanuele Bastianelli, Mathieu d'Aquin, Daniele Nardi
PublisherCEUR-WS.org
Chapter31-40
Number of pages10
Publication statusPublished - 23 Sept 2017
Event1st International Workshop on Application of Semantic Web Technologies in Robotics (AnSWeR '17) - Portoroz, Slovenia
Duration: 28 May 201728 May 2017

Publication series

NameCUER Workshop Proceedings
PublisherCEUR
Volume1935
ISSN (Electronic)1613-0073

Workshop

Workshop1st International Workshop on Application of Semantic Web Technologies in Robotics (AnSWeR '17)
Country/TerritorySlovenia
CityPortoroz
Period28/05/1728/05/17

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