Using Qualitative Spatial Relations for indirect object search

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

Standard

Using Qualitative Spatial Relations for indirect object search. / Kunze, Lars; Doreswamy, Keerthi Kumar; Hawes, Nick.

Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers (IEEE), 2014. p. 163-168 6906604.

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

Harvard

Kunze, L, Doreswamy, KK & Hawes, N 2014, Using Qualitative Spatial Relations for indirect object search. in Proceedings - IEEE International Conference on Robotics and Automation., 6906604, Institute of Electrical and Electronics Engineers (IEEE), pp. 163-168, 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, 31/05/14. https://doi.org/10.1109/ICRA.2014.6906604

APA

Kunze, L., Doreswamy, K. K., & Hawes, N. (2014). Using Qualitative Spatial Relations for indirect object search. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 163-168). [6906604] Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/ICRA.2014.6906604

Vancouver

Kunze L, Doreswamy KK, Hawes N. Using Qualitative Spatial Relations for indirect object search. In Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers (IEEE). 2014. p. 163-168. 6906604 https://doi.org/10.1109/ICRA.2014.6906604

Author

Kunze, Lars ; Doreswamy, Keerthi Kumar ; Hawes, Nick. / Using Qualitative Spatial Relations for indirect object search. Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers (IEEE), 2014. pp. 163-168

Bibtex

@inproceedings{01582df5c71b4e0c9b4e2225468e3b55,
title = "Using Qualitative Spatial Relations for indirect object search",
abstract = "Finding objects in human environments requires autonomous mobile robots to reason about potential object locations and to plan to perceive them accordingly. By using information about the 3D structure of the environment, knowledge about landmark objects and their spatial relationship to the sought object, search can be improved by directing the robot towards the most likely object locations. In this paper we have designed, implemented and evaluated an approach for searching for objects on the basis of Qualitative Spatial Relations (QSRs) such as left-of and in-front-of. On the basis of QSRs between landmarks and the sought object we generate metric poses of potential object locations using an extended version of the ternary point calculus and employ this information for view planning. Preliminary results show that search methods based on QSRs are faster and more reliable than methods not considering them.",
author = "Lars Kunze and Doreswamy, {Keerthi Kumar} and Nick Hawes",
year = "2014",
month = sep,
day = "22",
doi = "10.1109/ICRA.2014.6906604",
language = "English",
pages = "163--168",
booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers (IEEE)",
note = "2014 IEEE International Conference on Robotics and Automation, ICRA 2014 ; Conference date: 31-05-2014 Through 07-06-2014",

}

RIS

TY - GEN

T1 - Using Qualitative Spatial Relations for indirect object search

AU - Kunze, Lars

AU - Doreswamy, Keerthi Kumar

AU - Hawes, Nick

PY - 2014/9/22

Y1 - 2014/9/22

N2 - Finding objects in human environments requires autonomous mobile robots to reason about potential object locations and to plan to perceive them accordingly. By using information about the 3D structure of the environment, knowledge about landmark objects and their spatial relationship to the sought object, search can be improved by directing the robot towards the most likely object locations. In this paper we have designed, implemented and evaluated an approach for searching for objects on the basis of Qualitative Spatial Relations (QSRs) such as left-of and in-front-of. On the basis of QSRs between landmarks and the sought object we generate metric poses of potential object locations using an extended version of the ternary point calculus and employ this information for view planning. Preliminary results show that search methods based on QSRs are faster and more reliable than methods not considering them.

AB - Finding objects in human environments requires autonomous mobile robots to reason about potential object locations and to plan to perceive them accordingly. By using information about the 3D structure of the environment, knowledge about landmark objects and their spatial relationship to the sought object, search can be improved by directing the robot towards the most likely object locations. In this paper we have designed, implemented and evaluated an approach for searching for objects on the basis of Qualitative Spatial Relations (QSRs) such as left-of and in-front-of. On the basis of QSRs between landmarks and the sought object we generate metric poses of potential object locations using an extended version of the ternary point calculus and employ this information for view planning. Preliminary results show that search methods based on QSRs are faster and more reliable than methods not considering them.

UR - http://www.scopus.com/inward/record.url?scp=84929208671&partnerID=8YFLogxK

U2 - 10.1109/ICRA.2014.6906604

DO - 10.1109/ICRA.2014.6906604

M3 - Conference contribution

AN - SCOPUS:84929208671

SP - 163

EP - 168

BT - Proceedings - IEEE International Conference on Robotics and Automation

PB - Institute of Electrical and Electronics Engineers (IEEE)

T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014

Y2 - 31 May 2014 through 7 June 2014

ER -