Aligned Scene Modeling of a Robot’s Vista Space – An Evaluation

Swadzba A, Wachsmuth S (2011)
In: Language-Action Tools for Cognitive Artificial Agents: Papers from the 2011 AAAI Workshop. San Francisco, CA, USA: AAAI Technical Reports: 30-35.

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Abstract
One kind of meaningful structures in indoor rooms are supporting structures like tables and cupboards. A robot will need to know these structures for a natural interaction with the human and the environment. As bottom-up detection of such structures is a challenging problem, we propose to estimate potential supporting structures from a spatial description like "a bowl on the table". As language and cognition schematize the space in the same way it is possible to estimate the representation of the space underlying a scene description. To do so, we introduce the aligned modeling approach which consists of rules transforming a sequence of object relations into a set of trees and a methodology to ground the abstract representation of the scene layout in the current perception using detectors for small movable objects and an extraction of planar surfaces. An analysis of 30 descriptions shows the robustness of our approach to a variety of description strategies and object detection errors.
Publishing Year
Conference
AAAI Workshop on Language - Action Tools for Cognitive Artificial Agents: Integrating Vision, Action and Language
Location
San Francisco, CA, USA
Conference Date
2011-08-07 – 2011-08-08
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Swadzba A, Wachsmuth S. Aligned Scene Modeling of a Robot’s Vista Space – An Evaluation. In: Language-Action Tools for Cognitive Artificial Agents: Papers from the 2011 AAAI Workshop. San Francisco, CA, USA: AAAI Technical Reports; 2011: 30-35.
Swadzba, A., & Wachsmuth, S. (2011). Aligned Scene Modeling of a Robot’s Vista Space – An Evaluation. Language-Action Tools for Cognitive Artificial Agents: Papers from the 2011 AAAI Workshop, 30-35.
Swadzba, A., and Wachsmuth, S. (2011). “Aligned Scene Modeling of a Robot’s Vista Space – An Evaluation” in Language-Action Tools for Cognitive Artificial Agents: Papers from the 2011 AAAI Workshop (San Francisco, CA, USA: AAAI Technical Reports), 30-35.
Swadzba, A., & Wachsmuth, S., 2011. Aligned Scene Modeling of a Robot’s Vista Space – An Evaluation. In Language-Action Tools for Cognitive Artificial Agents: Papers from the 2011 AAAI Workshop. San Francisco, CA, USA: AAAI Technical Reports, pp. 30-35.
A. Swadzba and S. Wachsmuth, “Aligned Scene Modeling of a Robot’s Vista Space – An Evaluation”, Language-Action Tools for Cognitive Artificial Agents: Papers from the 2011 AAAI Workshop, San Francisco, CA, USA: AAAI Technical Reports, 2011, pp.30-35.
Swadzba, A., Wachsmuth, S.: Aligned Scene Modeling of a Robot’s Vista Space – An Evaluation. Language-Action Tools for Cognitive Artificial Agents: Papers from the 2011 AAAI Workshop. p. 30-35. AAAI Technical Reports, San Francisco, CA, USA (2011).
Swadzba, Agnes, and Wachsmuth, Sven. “Aligned Scene Modeling of a Robot’s Vista Space – An Evaluation”. Language-Action Tools for Cognitive Artificial Agents: Papers from the 2011 AAAI Workshop. San Francisco, CA, USA: AAAI Technical Reports, 2011. 30-35.
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