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.
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 language | English |
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Title of host publication | Proceedings of 1st International Workshop on Application of Semantic Web Technologies in Robotics (AnSWeR '17) |
Editors | Emanuele Bastianelli, Mathieu d'Aquin, Daniele Nardi |
Publisher | CEUR-WS.org |
Chapter | 31-40 |
Number of pages | 10 |
Publication status | Published - 23 Sept 2017 |
Event | 1st International Workshop on Application of Semantic Web Technologies in Robotics (AnSWeR '17) - Portoroz, Slovenia Duration: 28 May 2017 → 28 May 2017 |
Publication series
Name | CUER Workshop Proceedings |
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Publisher | CEUR |
Volume | 1935 |
ISSN (Electronic) | 1613-0073 |
Workshop
Workshop | 1st International Workshop on Application of Semantic Web Technologies in Robotics (AnSWeR '17) |
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Country/Territory | Slovenia |
City | Portoroz |
Period | 28/05/17 → 28/05/17 |