License: Creative Commons Attribution 4.0 International license (CC BY 4.0)
When quoting this document, please refer to the following
DOI: 10.4230/DagSemProc.08091.2
URN: urn:nbn:de:0030-drops-16081
URL: http://dagstuhl.sunsite.rwth-aachen.de/volltexte/2008/1608/
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Schlemmer, Matthias ; Vincze, Markus

Abstraction, ontology and task-guidance for visual perception in robots

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08091.SchlemmerMatthias.Paper.1608.pdf (0.2 MB)

Abstract

For solving recognition tasks in order to navigate in unknown environments
and to manipulate objects, humans seem to use at least the following crucial
capabilities: abstraction (for storing higher-level concepts of things), common
sense knowledge and prediction. Whereas the first and second provide the
basis for situated recognition, the second and third serve for pruning the
search space as it helps anticipating what (in an abstract sense) they will see
next and where. The main goal of our current research is, how we could use
such a kind of "common sense world knowledge" for guiding visual perception
and understanding scenes. Therefore, we are combining an owl-ontology
with the output of vision tools. The additional use of abstraction techniques
tries to establish the possibility of detecting higher level concepts, such as
arches composed of a variable number of parts. The goal is to finally find
concepts such as doors and tables in arbitrary scenes in order to arrive at a
generic recognition tool for home robots. The ontology should additionally
provide task-specific information about the things to detect.


BibTeX - Entry

@InProceedings{schlemmer_et_al:DagSemProc.08091.2,
  author =	{Schlemmer, Matthias and Vincze, Markus},
  title =	{{Abstraction, ontology and task-guidance for visual perception in robots}},
  booktitle =	{Logic and Probability for Scene Interpretation},
  pages =	{1--12},
  series =	{Dagstuhl Seminar Proceedings (DagSemProc)},
  ISSN =	{1862-4405},
  year =	{2008},
  volume =	{8091},
  editor =	{Anthony G. Cohn and David C. Hogg and Ralf M\"{o}ller and Bernd Neumann},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/opus/volltexte/2008/1608},
  URN =		{urn:nbn:de:0030-drops-16081},
  doi =		{10.4230/DagSemProc.08091.2},
  annote =	{Keywords: Abstraction, ontology, task, vision}
}

Keywords: Abstraction, ontology, task, vision
Collection: 08091 - Logic and Probability for Scene Interpretation
Issue Date: 2008
Date of publication: 23.10.2008

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