From Perception to Semantics: An Environment Representation Model Based on Human-Robot Interactions
| Autor: | Sébastien Druon, René Zapata, Yohan Breux |
|---|---|
| Přispěvatelé: | Robotique mobile pour l'exploration de l'environnement (EXPLORE), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM) |
| Jazyk: | angličtina |
| Rok vydání: | 2018 |
| Předmět: |
Semantics (computer science)
Computer science Representation (systemics) 02 engineering and technology 010501 environmental sciences Ontology (information science) 01 natural sciences Human–robot interaction Data modeling Knowledge graph Human–computer interaction 0202 electrical engineering electronic engineering information engineering Ontology Task analysis Robot [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] 020201 artificial intelligence & image processing Natural language 0105 earth and related environmental sciences |
| Zdroj: | 27th IEEE International Symposium on Robot and Human Interactive Communication RO-MAN: Robot and Human Interactive Communication RO-MAN: Robot and Human Interactive Communication, Aug 2018, Nanjing, China. pp.672-677, ⟨10.1109/ROMAN.2018.8525527⟩ RO-MAN |
| DOI: | 10.1109/ROMAN.2018.8525527⟩ |
| Popis: | International audience; A robot, in order to be autonomous, needs some kind of representation of its surrounding environment. From a general point of view, basic robotic tasks (such as localization, mapping, object handling, etc.) can be carried out with only very simple geometric primitives, usually extracted from raw sensor data. But whenever an interaction with a human being is involved, robots must have an understanding of concepts expressed in human natural language. In most approaches, this is done through a prebuilt ontology. In this paper, we try to bridge the gap between data driven methods and semantic based approaches by introducing a 3-layer environment model based on “instances”: sensor data based observations of concepts stored in a knowledge graph. We will focus on our original object-oriented ontology construction and illustrate the flow of our model in a simple showcase. |
| Databáze: | OpenAIRE |
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