Content: Publications

Towards Deliberative Active Perception using Persistent Memory

In Proc. IROS 2013 - Workshop on AI-based Robotics

Authors:Tim Niemueller, Nichola Abdo, Andreas Hertle, Gerhard Lakemeyer, Wolfram Burgard, Bernhard Nebel
Type:Article in Conference Proceedings
Publication Date:October 2013
Download:hybris-c1-baseline-iros2013.pdf
Conference:IROS 2013 - Workshop on AI-based Robotics, Tokyo, Japan

Abstract: Task coordination for autonomous mobile service robots typically involves a substantial amount of background knowledge and explicit action sequences to acquire the relevant information nowadays. We strive for a system which, given a task, is capable of reasoning about task-relevant knowledge to automatically determine whether that knowledge is sufficient. If missing or uncertain, the robot shall decide autonomously on the actions to gain or improve that knowledge. In this paper we present our baseline system implementing the foundations for these capabilities. The robot has to analyze a tabletop scene and increase its object type confidence. It plans motions to observe the scene from multiple perspectives, combines the acquired data, and performs a recognition step on the merged input.

Notes: Milestone video describing the experiments in the paper.

BibTeX
@InProceedings{hybris-c1-baseline-iros2013-2013,
  title =	{{Towards Deliberative Active Perception using Persistent Memory}},
  author =	{Tim Niemueller and Nichola Abdo and Andreas Hertle and Gerhard Lakemeyer and Wolfram Burgard and Bernhard Nebel},
  booktitle =	{Proc. of IROS 2013 - Workshop on AI-based Robotics},
  address =	{Tokyo, Japan},
  year =	{2013},
}