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

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

Authors

  • Valerio Basile
  • Markus Suchi
  • Lars Kunze
  • Markus Vincze
  • Barbara Caputo

Colleges, School and Institutes

External organisations

  • Universite Cote d’Azur, Inria, CNRS, I3S, France
  • Technische Universitat Wien, Austria
  • University of Oxford
  • Università di Roma, Sapienza, Italy

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.

Details

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
Publication statusPublished - 23 Sep 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)
CountrySlovenia
CityPortoroz
Period28/05/1728/05/17