elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

RoboSherlock: Unstructured Information Processing Framework for Robotic Perception

Beetz, Michael and Balint-Benczedi, Ferenc and Blodow, Nico and Kerl, Christian and Marton, Zoltan-Csaba and Nyga, Daniel and Seidel, Florian and Wiedemeyer, Thiemo and Worch, Jan-Hendrik (2016) RoboSherlock: Unstructured Information Processing Framework for Robotic Perception. In: Handling Uncertainty and Networked Structure in Robot Control Studies in Systems, Decision and Control, 42. Springer International Publishing. pp. 181-208. ISBN 978-3-319-26325-0. ISSN 2198-4182

[img] PDF - Registered users only
1MB

Official URL: https://www.springer.com/in/book/9783319263250

Abstract

A pressing question when designing intelligent autonomous systems is how to integrate the various subsystems concerned with complementary tasks. Robotic vision must provide task relevant information about the environment and the objects in it to various planning related modules. In most implementations of the traditional Perception–Cognition–Action paradigm these tasks are treated as quasi-independent modules that function as black boxes for each other. Often these subsystems are running in completely different frameworks, with a thin communication interface or middle-ware between them. While each subproblem poses specific requirements that can make fusing them more challenging, perception can benefit tremendously from a tight collaboration with cognition. In the following, a common framework for cognitive perception, based on the principle of unstructured information management (UIM) will be presented, called RoboSherlock. UIM has proven itself to be a powerful paradigm for scaling intelligent information and question answering systems towards real-world complexity. Complexity in UIM is handled by identifying (or hypothesizing) pieces of structured information by applying ensembles of experts for annotating information pieces, and by testing and integrating these isolated annotations into a comprehensive interpretation. RoboSherlock is an open source software framework for unstructured information processing in robot perception that demonstrates the potential of the paradigm for real-world scene perception.

Item URL in elib:https://elib.dlr.de/104598/
Document Type:Book Section
Additional Information:Chapter 8 (extended version of http://elib.dlr.de/102052/ and other works)
Title:RoboSherlock: Unstructured Information Processing Framework for Robotic 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
Kerl, Christianchristian.kerl (at) in.tum.deUNSPECIFIED
Marton, Zoltan-CsabaZoltan.Marton (at) dlr.dehttps://orcid.org/0000-0002-3035-493X
Nyga, Danielnyga (at) cs.uni-bremen.deUNSPECIFIED
Seidel, FlorianUNSPECIFIEDUNSPECIFIED
Wiedemeyer, ThiemoUniversität BremenUNSPECIFIED
Worch, Jan-HendrikUniversität BremenUNSPECIFIED
Date:January 2016
Journal or Publication Title:Handling Uncertainty and Networked Structure in Robot Control
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Volume:42
DOI :10.1007/978-3-319-26327-4
Page Range:pp. 181-208
Editors:
EditorsEmail
Busoniu, Lucianlucian@busoniu.net
Tamás, Leventelevente.tamas@aut.utcluj.ro
Publisher:Springer International Publishing
Series Name:Studies in Systems, Decision and Control
ISSN:2198-4182
ISBN:978-3-319-26325-0
Status:Published
Keywords:intelligent autonomous systems, robotic vision, unstructured information management, perception architecture
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:18 Jul 2016 15:00
Last Modified:19 May 2017 15:10

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.