Simulation-based physics reasoning for consistent scene estimation in an HRI context
| Autor: | Yoan Sallami, Séverin Lemaignan, Rachid Alami, Aurélie Clodic |
|---|---|
| Přispěvatelé: | Équipe Robotique et InteractionS (LAAS-RIS), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, Bristol Robotics Laboratory (BRL), University of Bristol [Bristol], Service Informatique : Développement, Exploitation et Assistance (LAAS-IDEA), ANR-19-P3IA-0004,ANITI,Artificial and Natural Intelligence Toulouse Institute(2019), European Project: 688147,H2020,H2020-ICT-2015,MuMMER(2016), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT) |
| Rok vydání: | 2019 |
| Předmět: |
Estimation
media_common.quotation_subject Context (language use) 02 engineering and technology Semantic reasoner 03 medical and health sciences Geometric relations 0302 clinical medicine Human–computer interaction Perception 0202 electrical engineering electronic engineering information engineering [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] Robot Table (database) 020201 artificial intelligence & image processing Simulation based 030217 neurology & neurosurgery media_common |
| Zdroj: | 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) IROS 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nov 2019, Macau, China. pp.7834-7841, ⟨10.1109/IROS40897.2019.8968106⟩ |
| DOI: | 10.1109/iros40897.2019.8968106 |
| Popis: | International audience; Reasoning about spatial and geometric relations between objects in a tabletop human-robot interaction is a challenge due to the perception not being always consistent: objects placed on a table seem to be slightly in the air; they overlap; they disappear due to occlusions. Yet, interpreting and anchoring perceptual data in a physically consistent estimation of the scene is a crucial ability for humans, and thus robots in HRI context. In this paper we present a simulation-based physics reasoner integrated in a lightweight situation-assessment framework called Underworlds, that allows the robot to stabilize objects and build at run-time a consistent estimation of the scene, even for entirely hidden objects, while inferring the actions performed by its human partner. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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