Robotics and Autonomous Systems 3 D scene interpretation for a mobile robot

This paper presents MESSIE, a multi-specialist architecture for scene interpretation in a robotic application. MESSIE is a centralized hierarchical blackboard architecture. The generic model of objects and the explicit description of sensors and materials allow the use of an application independent interpretation strategy. Two remote sensing applications on 2D scene interpretation and a third one, presented in this paper, on 3D scene interpretation allow the validation of the proposed architecture as well as the main features of MESSIE. After a brief overview of the state of art in 3D object modeling and scene interpretation, we discuss the scene interpretation problem from the knowledge representation view point. Then the architecture of MESSIE, the object modeling and the processing strategies (object detection and scene interpretation) are described. Further an application of 3D indoor scene interpretation in mobile robot context is given. We also present an interpretation running example using constrained low-level feature extraction mechanism to improve the image segmentation results.

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