Managing belief states for service robots: dynamic scene perception and spatio-temporal memory
Gespeichert in:
| 1. Verfasser: | |
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| Format: | Abschlussarbeit Buch |
| Sprache: | English |
| Veröffentlicht: |
2014
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| Schlagworte: | |
| Online-Zugang: | Volltext https://nbn-resolving.org/urn:nbn:de:bvb:91-diss-20140623-1174074-0-4 Inhaltsverzeichnis |
| Beschreibung: | XXIII, 235 S. Ill., graph. Darst. |
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Datensatz im Suchindex
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| adam_text | TECHNISCHE UNIVERSITAT
MUNCHEN
LEHRSTUHL FUR INFORMATIK IX
INTELLIGENTE AUTONOME SYSTEME
MANAGING BELIEF STATES FOR SERVICE ROBOTS:
DYNAMIC SCENE PERCEPTION AND SPATIO-TEMPORAL MEMORY
NICO G. S. BLODOW
VOLLSTANDIGER ABDRUCK DER VON DER FAKULTAT FUR INFORMATIK DER
TECHNISCHEN
UNIVERSITAT MIINCHEN ZUR ERLANGUNG DES AKADEMISCHEN GRADES EINES
DOKTORS DER NATURWISSENSCHAFTEN (DR. RER. NAT.)
GENEHMIGTEN DISSERTATION.
VORSITZENDE: UNIV.-PROF. GUDRUN J. KLINKER, PH.D.
PRIIFER DER DISSERTATION:
1. UNIV.-PROF. MICHAEL BEETZ, PH.D.,
UNIVERSITAT BREMEN
2. UNIV.-PROF. DR.-ING. DARIUS BURSCHKA
3. AO. PROF. DR. TECHN. MARKUS VINCZE,
TECHNISCHE UNIVERSITAT WIEN / OSTERREICH
DIE DISSERTATION WURDE AM 26.09.2013 BEI DER TECHNISCHEN UNIVERSITAT
MIINCHEN
EINGEREICHT UND DURCH DIE FAKULTAT FUR INFORMATIK AM 14.05.2014
ANGENOMMEN.
HTTP://D-NB.INFO/1055962166
CONTENTS
ABSTRACT
III
KURZFASSUNG V
ACKNOWLEDGEMENTS
VII
CONTENTS IX
LIST OF RESOURCES
XIII
1. INTRODUCTION 1
1.1. SCENARIO 5
1.2. CONCEPTUAL APPARATUS 7
1.3. PROPOSED SOLUTION 8
1.4. CONTRIBUTIONS 9
1.5. OUTLINE 10
2. PERCEPTION AS UNSTRUCTURED INFORMATION PROCESSING 13
2.1. EXAMPLE 16
2.2.
ROBOSHERLOCK
PRINCIPLES 18
2.3. SYSTEM OVERVIEW 22
3. A TYPE SYSTEM FOR SERVICE ROBOTICS PERCEPTION 27
3.1. ROBOSHERLOCK
CONVENIENCE WRAPPERS TO UIMA INTERFACES
30
3.1.1. FEATURESTRUCTUREPROXY 32
3.1.2. FEATURESTRUCTURECONVERSION 33
3.2. TYPE SYSTEM 35
3.2.1. BASIC (RAW) DATA TYPES 36
IX
CONTENTS
3.2.2. OBJECT HYPOTHESES 40
3.2.3. OBJECT CENTRIC ANNOTATIONS 42
3.2.4. SCENE ANNOTATIONS 47
3.2.5. BELIEF STATE ANNOTATIONS 49
4. ANNOTATORS GENERATING OBJECT HYPOTHESES 53
4.1. HYPOTHESIS GENERATION 53
4.2. GPU-ACCELERATED DEPTH IMAGE PROCESSING 56
4.2.1. NORMAL ESTIMATION 57
4.2.2. 3D KNOWN STRUCTURE SEGMENTATION 69
4.3. HIGH-FIDELITY SUPPORTING SURFACES SEGMENTATION 79
4.4. SUMMARY 86
5. ANNOTATORS ANALYZING OBJECT HYPOTHESES 87
5.1. 3D FEATURE ESTIMATION 88
5.2. CLASSIFICATION FRAMEWORK 91
5.3. WWW KNOWLEDGE SOURCES 94
5.4. USING WEB SERVICES
AS ANNOTATORS * GOOGLE GOGGLES 96
5.4.1. ABOUT GOOGLE GOGGLES 97
5.4.2. PROTOBUF AND MESSAGE DEFINITIONS 99
5.4.3. REQUEST MESSAGE DEFINITION 100
5.4.4. RESPONSE MESSAGE DEFINITION 102
5.4.5. EXPERIMENTS 104
6. ANNOTATORS FOR OBJECT IDENTITY RESOLUTION, INFORMATION FUSION AND
STOR
AGE 111
6.1. OBJECT IDENTITY RESOLUTION 112
6.1.1. SYSTEM OVERVIEW 114
6.1.2. FROM OBJECT ANNOTATIONS TO SIMILARITIES 117
6.2. OBJECT IDENTITY RESOLUTION 119
6.2.1. A MARKOV LOGIC NETWORK
FOR OBJECT IDENTITY RESOLUTION 121
6.3. EXPERIMENTS AND DISCUSSION 127
6.4. CONCLUSION 133
6.5. TRACKING AND ENTITY RESOLUTION 135
6.6. INFORMATION FUSION, STORAGE AND REUSE 136
X
CONTENTS
7. AUTONOMOUS INDOOR EXPLORATION AND 3D SEMANTIC MAPPING 143
7.1. RELATED WORK 146
7.2. SYSTEM OVERVIEW 148
7.3. SENSOR DATA ACQUISITION 148
7.3.1. NEXT BEST VIEW 149
7.4. POINT CLOUD DATA INTERPRETATION 156
7.5. SEMANTIC MAP GENERATION 159
7.6. CONCLUSIONS AND FUTURE WORK 165
8.
EVALUATION OF
ROBOSHERLOCK 167
8.1.
EXEMPLARY
ROBOSHERLOCK
ANALYSIS FOR A CLUSTER
168
8.2. EXPERIMENTAL EVALUTAION 170
8.3.
QUERIES THAT CAN BE ANSWERED BY
ROBOSHERLOCK 178
9. RELATED WORK 181
9.1. SEMANTIC MAPPING 184
9.2. SEGMENTATION AND OBJECT RECONSTRUCTION 187
9.3. SYMBOLIC KNOWLEDGE 189
9.4. ENTITY RESOLUTION 191
9.5. RELATED OPEN SOURCE SOFTWARE 192
10.CONCLUSIONS 195
10.1.
FUTURE WORK 199
LIST OF PRIOR PUBLICATIONS 203
A. GOGGLES PROTOCOL BUFFER MESSAGE DEFINITIONS 207
BIBLIOGRAPHY 219
XI
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| spelling | Blodow, Nico Verfasser aut Managing belief states for service robots dynamic scene perception and spatio-temporal memory Nico G. S. Blodow 2014 XXIII, 235 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier München, Techn. Univ., Diss., 2014 Serviceroboter (DE-588)4396128-9 gnd rswk-swf Bildverstehen (DE-588)4202022-0 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Bildverstehen (DE-588)4202022-0 s Serviceroboter (DE-588)4396128-9 s DE-604 Erscheint auch als Online-Ausgabe urn:nbn:de:bvb:91-diss-20140623-1174074-0-4 https://mediatum.ub.tum.de/node?id=1174074 Verlag kostenfrei Volltext https://nbn-resolving.org/urn:nbn:de:bvb:91-diss-20140623-1174074-0-4 Resolving-System DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=027429035&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Blodow, Nico Managing belief states for service robots dynamic scene perception and spatio-temporal memory Serviceroboter (DE-588)4396128-9 gnd Bildverstehen (DE-588)4202022-0 gnd |
| subject_GND | (DE-588)4396128-9 (DE-588)4202022-0 (DE-588)4113937-9 |
| title | Managing belief states for service robots dynamic scene perception and spatio-temporal memory |
| title_auth | Managing belief states for service robots dynamic scene perception and spatio-temporal memory |
| title_exact_search | Managing belief states for service robots dynamic scene perception and spatio-temporal memory |
| title_full | Managing belief states for service robots dynamic scene perception and spatio-temporal memory Nico G. S. Blodow |
| title_fullStr | Managing belief states for service robots dynamic scene perception and spatio-temporal memory Nico G. S. Blodow |
| title_full_unstemmed | Managing belief states for service robots dynamic scene perception and spatio-temporal memory Nico G. S. Blodow |
| title_short | Managing belief states for service robots |
| title_sort | managing belief states for service robots dynamic scene perception and spatio temporal memory |
| title_sub | dynamic scene perception and spatio-temporal memory |
| topic | Serviceroboter (DE-588)4396128-9 gnd Bildverstehen (DE-588)4202022-0 gnd |
| topic_facet | Serviceroboter Bildverstehen Hochschulschrift |
| url | https://mediatum.ub.tum.de/node?id=1174074 https://nbn-resolving.org/urn:nbn:de:bvb:91-diss-20140623-1174074-0-4 http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=027429035&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
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