RoboEarth Web-Enabled and Knowledge-Based Active Perception

In this paper we explore how a visual SLAM system and a robot knowledge base can mutually benefit from each other. The object recognition and mapping methods are used for grounding abstract knowledge and for creating a semantically annotated environment map that is available for reasoning. The knowledge base allows to reason about which object types are to be expected while exploring an environment and where to search for novel objects given a partial environment map. Prior information like task descriptions and object models is loaded from RoboEarth, a web-based knowledge base for exchanging knowledge between robots, and the created maps are again uploaded to RoboEarth. We show that by exploiting knowledge about common objects in a room and about the co-occurrence of objects, both efficacy and efficiency of the perception can be boosted.

[1]  Jean-Claude Latombe,et al.  Robot motion planning , 1970, The Kluwer international series in engineering and computer science.

[2]  T. Shermer.  Recent Results in Art Galleries , 1992 .

[3]  Brian Yamauchi,et al.  A frontier-based approach for autonomous exploration , 1997, Proceedings 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation CIRA'97. 'Towards New Computational Principles for Robotics and Automation'.

[4]  Stevan Harnad.  The Symbol Grounding Problem , 1999, ArXiv.

[5]  Antonio Torralba,et al.  Top-down control of visual attention in object detection , 2003, Proceedings 2003 International Conference on Image Processing (Cat. No.03CH37429).

[6]  Rakesh Gupta,et al.  Common Sense Data Acquisition for Indoor Mobile Robots , 2004, AAAI.

[7]  Javier Minguez,et al.  The obstacle-restriction method for robot obstacle avoidance in difficult environments , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[8]  Danica Kragic,et al.  Receptive field cooccurrence histograms for object detection , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[9]  Mounira Harzallah,et al.  A Typology Of Ontology-Based Semantic Measures , 2005, EMOI-INTEROP.

[10]  G. Klein,et al.  Parallel Tracking and Mapping for Small AR Workspaces , 2007, 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality.

[11]  Wolfram Burgard,et al.  Improved Techniques for Grid Mapping With Rao-Blackwellized Particle Filters , 2007, IEEE Transactions on Robotics.

[12]  Moritz Tenorth,et al.  CRAM — A Cognitive Robot Abstract Machine for everyday manipulation in human environments , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[13]  Rob Janssen,et al.  Tech United Eindhoven Team Description 2012 , 2010 .

[14]  John K. Tsotsos,et al.  Visual search for an object in a 3D environment using a mobile robot , 2010, Comput. Vis. Image Underst..

[15]  Moritz Tenorth,et al.  Putting People's Common Sense into Knowledge Bases of Household Robots , 2010, KI.

[16]  Wolfram Burgard,et al.  OctoMap : A Probabilistic , Flexible , and Compact 3 D Map Representation for Robotic Systems , 2010 .

[17]  Michael Beetz,et al.  Towards semantic robot description languages , 2011, 2011 IEEE International Conference on Robotics and Automation.

[18]  John Folkesson,et al.  Search in the real world: Active visual object search based on spatial relations , 2011, 2011 IEEE International Conference on Robotics and Automation.

[19]  Moritz Tenorth,et al.  RoboEarth - A World Wide Web for Robots , 2011, ICRA 2011.

[20]  Michael Beetz,et al.  Parameterizing actions to have the appropriate effects , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[21]  Masayuki Inaba,et al.  Searching objects in large-scale indoor environments: A decision-theoretic approach , 2012, 2012 IEEE International Conference on Robotics and Automation.

[22]  Markus Vincze,et al.  Web mining driven object locality knowledge acquisition for efficient robot behavior , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[23]  Moritz Tenorth,et al.  Representation and Exchange of Knowledge About Actions, Objects, and Environments in the RoboEarth Framework , 2013, IEEE Transactions on Automation Science and Engineering.

[24]  Moritz Tenorth,et al.  KnowRob: A knowledge processing infrastructure for cognition-enabled robots , 2013, Int. J. Robotics Res..

[25]  Javier Civera,et al.  C2TAM: A Cloud framework for cooperative tracking and mapping , 2014, Robotics Auton. Syst..