ICRA 2011 Paper Abstract


Paper WeA110.5

Aydemir, Alper (Royal Institute of Technology (KTH)), Sjöö, Kristoffer (Royal Institute of Technology), Folkesson, John (KTH), Pronobis, Andrzej (Royal Institute of Technology), Jensfelt, Patric (Royal Institute of Technology)

Search in the Real World: Active Visual Object Search Based on Spatial Relations

Scheduled for presentation during the Regular Sessions "Mapping and Navigation I" (WeA110), Wednesday, May 11, 2011, 09:20−09:35, Room 5E

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 5, 2020

Keywords Domestic Robots, Computer Vision for Robotics and Automation, Mapping


Objects are integral to a robot's understanding of space. Various tasks such as semantic mapping, pick-and-carry missions or manipulation involve interaction with objects. Previous work in the field largely builds on the assumption that the object in question starts out within the ready sensory reach of the robot. In this work we aim to relax this assumption by providing the means to perform robust and large-scale active visual object search. Presenting spatial relations that describe topological relationships between objects, we then show how to use these to create potential search actions. We introduce a method for efficiently selecting search strategies given probabilities for those relations. Finally we perform experiments to verify the feasibility of our approach.



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