Abstract
One of the most common tasks in assistive robotics is to find some specific object in a home environment. Usually, this task is tackled by adding the objects of interest to a map of the environment as soon as the objects are detected by the vision system of the robot. However, these maps are usually static, and do not take into account the dynamic nature of a home, where anyone could move an object after the robot has seen it. In this paper, we propose a lifelong system to address this problem. The robot takes into account different possible locations for each object, and chooses the more probable one when it is required. We have designed a probability based system that stores possible locations for each object, and updates the probabilities of past locations based on newer detections.
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Acknowledgments
This work has been partially sponsored by the Spanish Ministry of Science and Innovation under grant numbers TIN2016-77902-C3-1-P and PID2019-106758GB-C33, and by the Regional Council of Education, Culture and Sports of Castilla-La Mancha under grant number SBPLY/17/180501/000493, supported with FEDER funds.
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Romero-González, C., Martínez-Gómez, J., García-Varea, I. (2021). Lifelong Object Localization in Robotic Applications. In: Bergasa, L.M., Ocaña, M., Barea, R., López-Guillén, E., Revenga, P. (eds) Advances in Physical Agents II. WAF 2020. Advances in Intelligent Systems and Computing, vol 1285. Springer, Cham. https://doi.org/10.1007/978-3-030-62579-5_2
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DOI: https://doi.org/10.1007/978-3-030-62579-5_2
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