Incrementally grounding expressions for spatial relations between objects

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dc.contributor.author Mota, T en
dc.contributor.author Sridharan, Mohan en
dc.coverage.spatial Stockholm, Sweden en
dc.date.accessioned 2019-02-26T22:29:49Z en
dc.date.issued 2018-01-01 en
dc.identifier.isbn 9780999241127 en
dc.identifier.issn 1045-0823 en
dc.identifier.uri http://hdl.handle.net/2292/45425 en
dc.description.abstract Recognizing, reasoning about, and providing understandable descriptions of spatial relations between objects is an important task for robots interacting with humans. This paper describes an architecture for incrementally learning and revising the grounding of spatial relations between objects. Answer Set Prolog, a declarative language, is used to represent and reason with incomplete knowledge that includes prepositional spatial relations between scene objects. A generic grounding of prepositions for spatial relations, human input (when available), and non-monotonic logical inference, are used to infer spatial relations between 3D point clouds in given scenes, incrementally acquiring a specialized metric grounding of the prepositions and the relative confidence associated with each grounding. The architecture is evaluated on a benchmark dataset of tabletop images and on complex simulated scenes of furniture. en
dc.description.uri https://www.ijcai.org/proceedings/2018/ en
dc.publisher International Joint Conferences on Artificial Intelligence en
dc.relation.ispartof IJCAI International Joint Conference on Artificial Intelligence en
dc.relation.ispartofseries Proceedings of the Twenty-Seventh International Joint Conference on Artificial Intelligence (IJCAI-18) en
dc.rights Items in ResearchSpace are protected by copyright, with all rights reserved, unless otherwise indicated. Previously published items are made available in accordance with the copyright policy of the publisher. en
dc.rights.uri https://researchspace.auckland.ac.nz/docs/uoa-docs/rights.htm en
dc.title Incrementally grounding expressions for spatial relations between objects en
dc.type Conference Item en
pubs.begin-page 1928 en
dc.rights.holder Copyright: The author en
pubs.author-url https://www.ijcai.org/proceedings/2018/0266.pdf en
pubs.end-page 1934 en
pubs.finish-date 2018-07-19 en
pubs.publication-status Published en
pubs.start-date 2018-07-13 en
dc.rights.accessrights http://purl.org/eprint/accessRights/RestrictedAccess en
pubs.subtype Proceedings en
pubs.elements-id 755844 en
pubs.record-created-at-source-date 2019-07-30 en


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