Mohammed Saeed, Nazeer T.: Semantic description and communication of going around in a simulated world. 2019
Inhalt
- Abstract
- Zusammenfassung
- Acknowledgement
- 1 Introduction
- 2 The state-of-the-art
- 2.1 Robotics
- 2.2 Mobile robots
- 2.3 Semantic segmentation
- 2.4 Simulation in robotics
- 2.5 The semantic web
- 2.6 Semantic knowledge acquisition from sensory data
- 2.7 Ontologies and robotics
- 2.8 Ontologies and question answering systems
- 3 Technical setting of the proposed system
- 3.1 The Autonomous Mobile Outdoor Robot, AMOR
- 3.2 AMOR in simulation
- 3.3 Robot Operating System, and AllegroGraph
- 4 The Robot Semantic Protocol, RoboSemProc
- 4.1 Introduction
- 4.2 AMOR Core Ontology
- 4.3 Defining pose nodes
- 4.3.1 Position, location and time of each pose
- 4.3.2 Connecting pose nodes, and the vector between them
- 4.3.3 Moves left and right in a pathless environment
- 4.4 The vision from the semantic camera
- 4.4.1 Landmark detection and annotation
- 4.4.2 Landmarks' position and location
- 4.4.3 Landmarks and their type of vicinity
- 4.5 Environmental perception and modeling complex inter-object relations
- 4.5.1 The distance relation between two landmarks
- 4.5.2 The height relation between two landmarks
- 4.5.3 In the middle of relation
- 4.5.4 AMOR and the spatial prepositions
- 4.6 Comparison between the blank-node and reification, binary and the helper node approaches
- 4.7 Defining inverse relations
- 4.8 Sensor integration
- 4.9 Navigation and real-time ontology instantiation
- 4.10 An external Environment Ontology "ENVO" integration
- 4.11 Semantic description and communication
- 5 Results and evaluation
- 5.1 Experimental navigation, exploring the city and the landscape
- 5.2 Visualization of the AMOR core ontology
- 5.3 Property definition, labeling and page-ids
- 5.4 Finding specific information
- 5.4.1 Tracking the movement of AMOR in the environment
- 5.4.2 The vision of AMOR with its video camera
- 5.4.3 Finding a specific node
- 5.4.4 Environmental perception of and inter-object relations
- 5.4.5 Finding landmarks by their type
- 5.5 Global localization
- 5.6 Natural language communication
- 5.7 System evaluation
- 6 Conclusion
- Publications
- Bibliography
- List of Figures
- List of Tables
- Abbreviations