Multispecialist system for 3D scene analysis

Abstract

This paper presents a scene analysis system, called MESSIE, in a 3D robotic context. It is a blackboard based multispecialist system. The basic architecture of MESSIE has been extended to meet the requirements of a vision reasoning system for a robotic platform and to generalize the application domain of our previous works [7, 4, 3, 5]. In the first part, we present the system architecture and the models of objects, scene and sensors and the different interpretation and detection strategies. After, we present current experiments on indoor scene interpretation and an interpretation running example using constrained low-level feature extraction mechanism to improve low-level processing results.