Dealing with Semantic Knowledge in Robotics with a Probabilistic Description Logic

One has often to deal with large quantities of data in robotics, either coming from sensors or from background knowledge. Background knowledge, with attached semantics, are usually modeled logically, and sensor data, due to uncertainties concerning their nature, are modeled probabilistically. In thi...

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Autores principales: Corrêa, Fabiano, Belizia Polastro, Rodrigo, Gagliardi Cozman, Fabio, Okamoto Jr., Jun
Formato: Objeto de conferencia
Lenguaje:Inglés
Publicado: 2010
Materias:
Ciencias Informáticas
robotics
probabilistic ontology
Acceso en línea:http://sedici.unlp.edu.ar/handle/10915/152574
http://39jaiio.sadio.org.ar/sites/default/files/39jaiio-asai-01.pdf
Aporte de:
SEDICI (UNLP) de Universidad Nacional de La Plata
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spelling I19-R120-10915-1525742023-05-08T20:04:18Z http://sedici.unlp.edu.ar/handle/10915/152574 http://39jaiio.sadio.org.ar/sites/default/files/39jaiio-asai-01.pdf issn:1850-2784 Dealing with Semantic Knowledge in Robotics with a Probabilistic Description Logic Corrêa, Fabiano Belizia Polastro, Rodrigo Gagliardi Cozman, Fabio Okamoto Jr., Jun 2010 2010 2023-05-08T16:55:14Z en Ciencias Informáticas robotics probabilistic ontology One has often to deal with large quantities of data in robotics, either coming from sensors or from background knowledge. Background knowledge, with attached semantics, are usually modeled logically, and sensor data, due to uncertainties concerning their nature, are modeled probabilistically. In this paper we present a scalable method for spatial mapping of indoor environments, through the use of a probabilistic ontology. Reasoning with this ontology allows segmentation and tagging of sensor data acquired by a robot during navigation. We report experiments with a real robot to validate our approach, thus moving closer to the goal of integrating mapping and semantic labeling processes. Sociedad Argentina de Informática e Investigación Operativa Objeto de conferencia Objeto de conferencia http://creativecommons.org/licenses/by-nc-sa/4.0/ Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0) application/pdf 1-12
institution Universidad Nacional de La Plata
institution_str I-19
repository_str R-120
collection SEDICI (UNLP)
language Inglés
topic Ciencias Informáticas
robotics
probabilistic ontology
spellingShingle Ciencias Informáticas
robotics
probabilistic ontology
Corrêa, Fabiano
Belizia Polastro, Rodrigo
Gagliardi Cozman, Fabio
Okamoto Jr., Jun
Dealing with Semantic Knowledge in Robotics with a Probabilistic Description Logic
topic_facet Ciencias Informáticas
robotics
probabilistic ontology
description One has often to deal with large quantities of data in robotics, either coming from sensors or from background knowledge. Background knowledge, with attached semantics, are usually modeled logically, and sensor data, due to uncertainties concerning their nature, are modeled probabilistically. In this paper we present a scalable method for spatial mapping of indoor environments, through the use of a probabilistic ontology. Reasoning with this ontology allows segmentation and tagging of sensor data acquired by a robot during navigation. We report experiments with a real robot to validate our approach, thus moving closer to the goal of integrating mapping and semantic labeling processes.
format Objeto de conferencia
Objeto de conferencia
author Corrêa, Fabiano
Belizia Polastro, Rodrigo
Gagliardi Cozman, Fabio
Okamoto Jr., Jun
author_facet Corrêa, Fabiano
Belizia Polastro, Rodrigo
Gagliardi Cozman, Fabio
Okamoto Jr., Jun
author_sort Corrêa, Fabiano
title Dealing with Semantic Knowledge in Robotics with a Probabilistic Description Logic
title_short Dealing with Semantic Knowledge in Robotics with a Probabilistic Description Logic
title_full Dealing with Semantic Knowledge in Robotics with a Probabilistic Description Logic
title_fullStr Dealing with Semantic Knowledge in Robotics with a Probabilistic Description Logic
title_full_unstemmed Dealing with Semantic Knowledge in Robotics with a Probabilistic Description Logic
title_sort dealing with semantic knowledge in robotics with a probabilistic description logic
publishDate 2010
url http://sedici.unlp.edu.ar/handle/10915/152574
http://39jaiio.sadio.org.ar/sites/default/files/39jaiio-asai-01.pdf
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AT beliziapolastrorodrigo dealingwithsemanticknowledgeinroboticswithaprobabilisticdescriptionlogic
AT gagliardicozmanfabio dealingwithsemanticknowledgeinroboticswithaprobabilisticdescriptionlogic
AT okamotojrjun dealingwithsemanticknowledgeinroboticswithaprobabilisticdescriptionlogic
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