Towards an Informed Search Behavior for Domestic Robots

Ziegler L, Siepmann F, Kortkamp M, Wachsmuth S (2010)
In: Proceedings of SIMPAR 2010 Workshops. 241-250.

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Conference Paper | Published | English
Abstract
In this paper we present an object search behavior for a mobile domestic robot that reduces the search space by applying a novel kind of spatial attention system. Different visual cues are mapped in a SLAM-like manner in order to identify hypotheses for possible object locations. These locations are scanned for known objects using a recognition method consisting of two complementary pathways - a detector measuring color distributions and a classifier using a SVM with a Pyramid Matching Kernel. We show the usefulness of the proposed approach by conducting an evaluation in a real world apartment scenario.
Publishing Year
Conference
International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)
Location
Darmstadt, Germany
Conference Date
2010-11-15 – 2010-11-16
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Ziegler L, Siepmann F, Kortkamp M, Wachsmuth S. Towards an Informed Search Behavior for Domestic Robots. In: Proceedings of SIMPAR 2010 Workshops. 2010: 241-250.
Ziegler, L., Siepmann, F., Kortkamp, M., & Wachsmuth, S. (2010). Towards an Informed Search Behavior for Domestic Robots. Proceedings of SIMPAR 2010 Workshops, 241-250.
Ziegler, L., Siepmann, F., Kortkamp, M., and Wachsmuth, S. (2010). “Towards an Informed Search Behavior for Domestic Robots” in Proceedings of SIMPAR 2010 Workshops 241-250.
Ziegler, L., et al., 2010. Towards an Informed Search Behavior for Domestic Robots. In Proceedings of SIMPAR 2010 Workshops. pp. 241-250.
L. Ziegler, et al., “Towards an Informed Search Behavior for Domestic Robots”, Proceedings of SIMPAR 2010 Workshops, 2010, pp.241-250.
Ziegler, L., Siepmann, F., Kortkamp, M., Wachsmuth, S.: Towards an Informed Search Behavior for Domestic Robots. Proceedings of SIMPAR 2010 Workshops. p. 241-250. (2010).
Ziegler, Leon, Siepmann, Frederic, Kortkamp, Marco, and Wachsmuth, Sven. “Towards an Informed Search Behavior for Domestic Robots”. Proceedings of SIMPAR 2010 Workshops. 2010. 241-250.
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