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Object search on a mobile robot using relational spatial information
Alper Aydemir, Kristoffer Sjöö, Patric Jensfelt
111 - 120
10.3233/978-1-60750-613-3-111
Intelligent Autonomous Systems 11
Abstract

We present a method for utilising knowledge of qualitative spatial relations between objects in order to facilitate efficient visual search for those objects. A computational model for the relation is used to sample a probability distribution that guides the selection of camera views. Specifically we examine the spatial relation “on”, in the sense of physical support, and show its usefulness in search experiments on a real robot. We also experimentally compare different search strategies and verify the efficiency of so-called indirect search.

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