An application of fuzzy DL-Based semantic perception to soil container classification

Eich, Markus (2013) An application of fuzzy DL-Based semantic perception to soil container classification. In Proceedings of 2013 IEEE International Conference on Technologies for Practical Robot Applications (TePRA), IEEE, Woburn, MA, pp. 1-8.

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Abstract

Semantic perception and object labeling are key requirements for robots interacting with objects on a higher level. Symbolic annotation of objects allows the usage of planning algorithms for object interaction, for instance in a typical fetchand-carry scenario. In current research, perception is usually based on 3D scene reconstruction and geometric model matching, where trained features are matched with a 3D sample point cloud. In this work we propose a semantic perception method which is based on spatio-semantic features. These features are defined in a natural, symbolic way, such as geometry and spatial relation. In contrast to point-based model matching methods, a spatial ontology is used where objects are rather described how they "look like", similar to how a human would described unknown objects to another person. A fuzzy based reasoning approach matches perceivable features with a spatial ontology of the objects. The approach provides a method which is able to deal with senor noise and occlusions. Another advantage is that no training phase is needed in order to learn object features. The use-case of the proposed method is the detection of soil sample containers in an outdoor environment which have to be collected by a mobile robot. The approach is verified using real world experiments.

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ID Code: 84009
Item Type: Conference Paper
Refereed: Yes
Keywords: Semantic Perception, own
DOI: 10.1109/TePRA.2013.6556369
ISBN: 9781467362238
ISSN: 2325-0526
Divisions: Current > QUT Faculties and Divisions > Science & Engineering Faculty
Deposited On: 10 May 2015 22:53
Last Modified: 19 May 2015 05:40

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