کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
412376 | 679634 | 2013 | 11 صفحه PDF | دانلود رایگان |
In order to successfully perform typical household tasks such as manipulation or navigation, domestic robots need an accurate description of the world they are operating in. Creating and maintaining such a description, in this work referred to as world model, is a non-trivial task in a domestic environment that typically has a high number of objects, and is unstructured and dynamically changing. This work introduces probabilistic multiple hypothesis anchoring to create and maintain a semantically rich world model using probabilistic anchoring. Multiple hypothesis tracking-based data association is included to be able to deal with ambiguous scenarios. Multiple model tracking is included to be able to easily incorporate different kinds of prior knowledge.
► We introduce probabilistic multiple hypothesis anchoring.
► Anchoring with multiple model tracking and multiple hypothesis based data association.
► Experimental validation of the approach in a series of challenging experiments.
► An analysis of the (im)possibilities of the method based on the assumptions made.
Journal: Robotics and Autonomous Systems - Volume 61, Issue 2, February 2013, Pages 95–105