Knowledge-driven world modeling

J. Elfring, S. Dries, van den, M.J.G. Molengraft, van de, J.L.M. Bruyninckx

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Abstract

In order to allow safe operation and good performance, robots need an accurate model of their environment. Such a world model is constructed from sensor detections and typically contains information about positions and velocities of surrounding objects. This paper proposes how prior knowledge about those objects can be used to improve the performance of a world model, which is implemented by a Multiple Hypothesis Filter (MHF). More specifically, knowledge about object dynamics, expected locations, relations between object classes and detector characteristics is incorporated in the probabilistic models of the MHF. The results of simulations confirmed the potential of incorporating such object knowledge in a world model.
Original languageEnglish
Title of host publicationProceedings of the Workshop : Knowledge Representation for Autonomous Robots (IROS 2011), 25-30 September 2011, San Francisco, USA
Publication statusPublished - 2011
Eventconference; International Conference on Intelligent Robots and Systems; 2011-09-25; 2011-09-30 -
Duration: 25 Sep 201130 Sep 2011

Conference

Conferenceconference; International Conference on Intelligent Robots and Systems; 2011-09-25; 2011-09-30
Period25/09/1130/09/11
OtherInternational Conference on Intelligent Robots and Systems

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