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RoboSherlock: unstructured information processing for robot perception

Beetz, Michael and Balint-Benczedi, Ferenc and Blodow, Nico and Nyga, Daniel and Wiedemeyer, Thiemo and Marton, Zoltan-Csaba (2015) RoboSherlock: unstructured information processing for robot perception. In: IEEE International Conference on Robotics and Automation ICRA. IEEE. International Conference on Robotics and Automation (ICRA), 26-30.05.2015, Seattle, Washington, USA.

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Official URL: http://icra2015.org/

Abstract

We present ROBOSHERLOCK, an open source software framework for implementing perception systems for robots performing human-scale everyday manipulation tasks. In ROBOSHERLOCK, perception and interpretation of realistic scenes is formulated as an unstructured information management (UIM) problem. The application of the UIM principle supports the implementation of perception systems that can answer task-relevant queries about objects in a scene, boost object recognition performance by combining the strengths of multiple perception algorithms, support knowledge-enabled reasoning about objects and enable automatic and knowledge-driven generation of processing pipelines. We demonstrate the potential of the proposed framework by three feasibility studies of systems for real-world scene perception that have been built on top of ROBOSHERLOCK.

Item URL in elib:https://elib.dlr.de/102052/
Document Type:Conference or Workshop Item (Speech)
Additional Information:Best Service Robotics Paper Award (See also: http://www.robosherlock.org/)
Title:RoboSherlock: unstructured information processing for robot perception
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Beetz, Michaelbeetz (at) cs.uni-bremen.deUNSPECIFIED
Balint-Benczedi, Ferencbalintbe (at) cs.uni-bremen.deUNSPECIFIED
Blodow, Nicoblodow (at) cs.tum.eduUNSPECIFIED
Nyga, Danielnyga (at) cs.uni-bremen.deUNSPECIFIED
Wiedemeyer, ThiemoUniversität BremenUNSPECIFIED
Marton, Zoltan-CsabaZoltan.Marton (at) dlr.dehttps://orcid.org/0000-0002-3035-493X
Date:2015
Journal or Publication Title:IEEE International Conference on Robotics and Automation ICRA
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Publisher:IEEE
Status:Published
Keywords:perception system, unstructured information management, object recognition, reasoning
Event Title:International Conference on Robotics and Automation (ICRA)
Event Location:Seattle, Washington, USA
Event Type:international Conference
Event Dates:26-30.05.2015
Organizer:IEEE RAS
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Marton, Dr. Zoltan-Csaba
Deposited On:13 Jan 2016 11:32
Last Modified:19 May 2017 15:09

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