Toward an object-based semantic memory for long-term operation of mobile service robots

Dayoub, Feras, Duckett, Tom, & Cielniak, Grzegorz (2010) Toward an object-based semantic memory for long-term operation of mobile service robots. In Workshop on Semantic Mapping and Autonomous Knowledge Acquisition, 18 October 2010, Taipei, Taiwan. (Unpublished)

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Throughout a lifetime of operation, a mobile service robot needs to acquire, store and update its knowledge of a working environment. This includes the ability to identify and track objects in different places, as well as using this information for interaction with humans. This paper introduces a long-term updating mechanism, inspired by the modal model of human memory, to enable a mobile robot to maintain its knowledge of a changing environment. The memory model is integrated with a hybrid map that represents the global topology and local geometry of the environment, as well as the respective 3D location of objects. We aim to enable the robot to use this knowledge to help humans by suggesting the most likely locations of specific objects in its map. An experiment using omni-directional vision demonstrates the ability to track the movements of several objects in a dynamic environment over an extended period of time.

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ID Code: 75103
Item Type: Conference Paper
Refereed: Yes
Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100)
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2010 please consult author(s)
Deposited On: 14 Aug 2014 23:00
Last Modified: 16 Aug 2014 10:22

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