Scene Interpretation for Self-Aware Cognitive Robots

摘要

We propose a visual scene interpretation system for cognitive robots to maintain a consistent world model about their environments. This interpretation system is for our lifelong experimental learning framework that allows robots analyze failure contexts to ensure robust-ness in their future tasks. To efficiently analyze fail-ure contexts, scenes should be interpreted appropri-ately. In our system, LINE-MOD and HS histograms are used to recognize objects with/without textures. More-over, depth-based segmentation is applied for identify-ing unknown objects in the scene. This information is also used to augment the recognition performance. The world model includes not only the objects detected in the environment but also their spatial relations to effi-ciently represent contexts. Extracting unary and binary relations such as on, on ground, clear and near is use-ful for symbolic representation of the scenes. We test the performance of our system on recognizing objects, determining spatial predicates, and maintaining consis-tency of the world model of the robot in the real world. Our preliminary results reveal that our system can be successfully used to extract spatial relations in a scene and to create a consistent model of the world by using the information gathered from the onboard RGB-D sen-sor as the robot explores its environment.