This paper presents the design and development of a system intended for storing, querying and managing all required data related to a fluent human-robot object handover process. Our system acts as a bridge between visual perception and control systems in a robotic setup intended to collaborate with human partners, while the perception module provides information about the exchange environment. In order to achieve these goals, a semantic-ontological approach has been selected favouring system’s interoperability and extensibility, complemented with a set of utilities developed ad-hoc for easing the knowledge inference, query and management. As a result, the proposed knowledgebase provides a completeness level not previously reached in related state of the art approaches.
CITATION STYLE
Blanco, D. C., Arias, A. B. R., Cañete, V. F. C., & Suárez, J. C. (2015). OBEliSK: Novel knowledgebase of object features and exchange strategies. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 8926, pp. 448–454). Springer Verlag. https://doi.org/10.1007/978-3-319-16181-5_34
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