Using Knowledge Representation for Perceptual Anchoring in a Robotic System

In this work we introduce symbolic knowledge representation and reasoning capabilities to enrich perceptual anchoring. The idea that encompasses perceptual anchoring is, the creation and maintenance of a connection between the symbolic and perceptual description that refer to the same object in the environment. However, without higher level reasoning, perceptual anchoring is still limited. Hence we direct our focus to combining a knowledge representation and reasoning (KRR) system with the anchoring module to exploit a knowledge inference mechanisms. We implemented a prototype of this novel approach to explore through elementary experimentation the advantages of integrating a symbolic knowledge system to the anchoring framework in the context of an intelligent home. Our results show that using the KRR we are better able to cope with ambiguities in the anchoring module through exploitation of human robot interaction.