Knowledge Processing for Autonomous Robots

knowledge about object classes Object instances and component hierarchy Poses in the environment and their changes over time Related: TBOX/SBOX, Galindo et al (RAS 2008) Semantic map representation Abstract knowledge about object classesknowledge about object classes Object instances and component hierarchy Poses in the environment and their changes over time Spatio-temporal object representation (see also http://ias.in.tum.de/kb/wiki/index.php/Modeling perceived or inferred objects) Integrating perception (see also http://ias.in.tum.de/kb/wiki/index.php/Modeling perceived or inferred objects) Semantic map representation Abstract knowledge about object classesknowledge about object classes Object instances and component hierarchy Poses in the environment and their changes over time Representing articulated objects ◮ Poses and joint limits of hinges and prismatic joints ◮ Enable robot to open doors and drawers Object part composition ◮ Part-of hierarchy: composition of objects from parts ◮ Hinged-to/fixed-to: kinematic properties Integrating CAD models ◮ Visualization and computation of qualitative spatial relations ◮ Soon: segmentation and interpretation of object parts (see also http://ias.in.tum.de/kb/wiki/index.php/CAD Models) Computing qualitative spatial relations (see also http://ias.in.tum.de/kb/wiki/index.php/Tutorial: Computables) Computing qualitative spatial relations (see also http://ias.in.tum.de/kb/wiki/index.php/Tutorial: Computables)