Optimizations on semantic environment management: an application for humanoid robot home assistance

© 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.This article introduces some optimization mechanisms focused on environment management, object recognition, and environment interaction. Although the generality of the presented system, this work will be focused on its application on home assistance humanoid robots. For this purpose, a generic environment formalization procedure for semantic scenery description is introduced. As the main contribution of this work, some techniques for a more efficient use of the environment knowledge are proposed. That way, the application of an areabased discrimination mechanism will avoid to process large amounts of data, useless in the current context, improving the object recognition, and characterizing the available interactions in the current area. Finally, the formalized description, and the optimization procedure, will be tested and verified on a specific home scenario using a humanoid robotThis work has been supported by the Spanish Science and Innovation Ministry MICINN under the CICYT project COBAMI: DPI2011-28507-C02-01/02. The responsibility for the content remains with the authors.Munera Sánchez, E.; Posadas-Yagüe, J.; Poza-Lujan, J.; Blanes Noguera, F.; Simó Ten, JE. (2014). Optimizations on semantic environment management: an application for humanoid robot home assistance. En 2014 IEEE-RAS International Conference on Humanoid Robots. IEEE. 720-725. doi:10.1109/HUMANOIDS.2014.7041442S72072