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Searching for Objects in Human Living Environments based on Relevant Inferred and Mined Priors

Hernandez, Alejandra and Durner, Maximilian and Gomez, Clara and Grixa, Iris Lynne and Teikmanis, Oskars and Marton, Zoltan-Csaba and Barber, Ramon (2021) Searching for Objects in Human Living Environments based on Relevant Inferred and Mined Priors. In: European Conference on Mobile Robots, ECMR 2021. IEEE. 10th European Conference on Mobile Robots (ECMR), 31 Aug - 03 Sept, Bonn, Germany. doi: 10.1109/ECMR50962.2021.9568792. ISBN 978-1-6654-1213-1.

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Official URL: https://ieeexplore.ieee.org/document/9568792

Abstract

Service robots performing tasks in human environments constantly face changes due to the dynamic of the environments. Such robots need to reason about their surrounding for a better understanding of it. Besides, it is important to demonstrate capabilities that potential users would find useful, thus validating the development of such systems. One of these capabilities is to help a person to find what she or he is looking for. This mundane task of searching for an object is highly relevant in showing the non-expert user that a robot can understand the world. In this paper, we propose an efficient search strategy to find target objects that have not been seen before, based on the reasoning about in which scenes and with which objects they co-occur. Our method consists of an inference process based on a Conditional Random Field (CRF), that fuses the information about other previously detected objects, the semantic floor map, and the object-object/-room relations, to build a prediction map with the most promising locations for an unseen object. To validate our work, comparative experiments in simulated environments have been performed, demonstrating the efficiency of our proposed search strategy.

Item URL in elib:https://elib.dlr.de/146981/
Document Type:Conference or Workshop Item (Speech)
Title:Searching for Objects in Human Living Environments based on Relevant Inferred and Mined Priors
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Hernandez, Alejandraalejhern (at) ing.uc3m.eshttps://orcid.org/0000-0002-1398-1296
Durner, MaximilianMaximilian.Durner (at) dlr.dehttps://orcid.org/0000-0001-8885-5334
Gomez, ClaraUNSPECIFIEDUNSPECIFIED
Grixa, Iris LynneIris.Grixa (at) dlr.deUNSPECIFIED
Teikmanis, OskarsOskars.Teikmanis (at) dlr.deUNSPECIFIED
Marton, Zoltan-CsabaZoltan.Marton (at) dlr.dehttps://orcid.org/0000-0002-3035-493X
Barber, RamonUNSPECIFIEDhttps://orcid.org/0000-0003-2800-2457
Date:2021
Journal or Publication Title:European Conference on Mobile Robots, ECMR 2021
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
DOI :10.1109/ECMR50962.2021.9568792
Editors:
EditorsEmailEditor's ORCID iD
Behnke, SvenUNSPECIFIEDUNSPECIFIED
Menegatti, EmanueleUNSPECIFIEDUNSPECIFIED
McCool, ChrisUNSPECIFIEDUNSPECIFIED
Publisher:IEEE
ISBN:978-1-6654-1213-1
Status:Published
Keywords:Service robots, Navigation, Modality Fusion, Search problems, Mobile robots
Event Title:10th European Conference on Mobile Robots (ECMR)
Event Location:Bonn, Germany
Event Type:international Conference
Event Dates:31 Aug - 03 Sept
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Multisensory World Modelling (RM) [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Durner, Maximilian
Deposited On:08 Dec 2021 14:16
Last Modified:08 Dec 2021 14:16

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