Use of a priori descriptions in a high-level language and management of the uncertainty in a scene recognition system

摘要

This paper presents a scene recognition system in a 3D robotic context. The problem of "scene recognition" is presented as the matching of images with a priori descriptions given in a high level language. The mission consists in the identification of the position of an object in a scene with a vision system situated at the end of a manipulator. The position of the object is given by the human operator in a pseudo-natural language and the environment is only known through the fuzzy hints of the mission description. The use of a priori description in high level language and the particular aspects of the scene recognition method are presented. The first results of the complete system are given.