ROBUST SEMANTIC WORLD MODELING BY BETA MEASUREMENT LIKELIHOOD IN A DYNAMIC INDOOR ENVIRONMENT

Gi Hyun Lim, Chuho Yi, Il Hong Suh, Seung Woo Hong

Abstract

In this paper, a semantic world model represented by objects and their spatial relationships is considered to endow service robots. In the case of using commercially available visual recognition systems in dynamically changing environments, semantic world modeling must solve problems caused by imperfect measurements. These measurement result from variations caused by moving objects, illumination changes, and viewpoint changes. To build a robust semantic world model, the measurement likelihood method and spatial context representation are addressed to deal with the noisy sensory data, which are handled by temporal confidence reasoning of statistical observation and logical inference, respectively. In addition to the representation of a semantic world model for service robots, formal semantic networks can be exploited in representations that allow for interaction with humans and sharing and re-using of semantic knowledge. The experimental results indicate the validity of the presented novel method for robust semantic mapping in an indoor environment.

References

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Paper Citation


in Harvard Style

Lim G., Yi C., Suh I. and Woo Hong S. (2011). ROBUST SEMANTIC WORLD MODELING BY BETA MEASUREMENT LIKELIHOOD IN A DYNAMIC INDOOR ENVIRONMENT . In Proceedings of the International Conference on Knowledge Engineering and Ontology Development - Volume 1: KEOD, (IC3K 2011) ISBN 978-989-8425-80-5, pages 311-316. DOI: 10.5220/0003690503110316


in Bibtex Style

@conference{keod11,
author={Gi Hyun Lim and Chuho Yi and Il Hong Suh and Seung Woo Hong},
title={ROBUST SEMANTIC WORLD MODELING BY BETA MEASUREMENT LIKELIHOOD IN A DYNAMIC INDOOR ENVIRONMENT},
booktitle={Proceedings of the International Conference on Knowledge Engineering and Ontology Development - Volume 1: KEOD, (IC3K 2011)},
year={2011},
pages={311-316},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003690503110316},
isbn={978-989-8425-80-5},
}


in EndNote Style

TY - CONF
JO - Proceedings of the International Conference on Knowledge Engineering and Ontology Development - Volume 1: KEOD, (IC3K 2011)
TI - ROBUST SEMANTIC WORLD MODELING BY BETA MEASUREMENT LIKELIHOOD IN A DYNAMIC INDOOR ENVIRONMENT
SN - 978-989-8425-80-5
AU - Lim G.
AU - Yi C.
AU - Suh I.
AU - Woo Hong S.
PY - 2011
SP - 311
EP - 316
DO - 10.5220/0003690503110316