Spatial Reasoning with Guinness
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Spatial Reasoning with Guinness. University of Missouri, Columbia, MO. References. Acknowledgements. gesture. speech. PDA(NRL). GUI(EUT). robot. mapserver. SRserver. pose. palmserver. THE STARTING ARCHITECTURE. user commands and responses. oldest short term map. speech commands.

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Spatial Reasoning with Guinness

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Spatial reasoning with guinness

Spatial Reasoning with Guinness

University of Missouri, Columbia, MO

References

Acknowledgements


Spatial reasoning with guinness

gesture

speech

PDA(NRL)

GUI(EUT)

robot

mapserver

SRserver

pose

palmserver

THE STARTING ARCHITECTURE

user commands

and responses

oldest short term map

speech

commands

palmhelper

sensor info

robot pose

robot pose

continuous

localization

trulla

corrections

robot cmds

encoders

vfh

sensor data

long

term

map

short

term

map


Spatial reasoning with guinness

imageserver

gesture

speech

PDA(MU)

GUI(EUT)

robot

mapserver

SRserver

pose

spatialview

THE CURRENT ARCHITECTURE

user commands

and responses

oldest short term map

speech

commands

user commands

and responses

sketch

log files

Cortex

sensor info

robot pose

robot_spatial

robot pose

continuous

localization

trulla

corrections

sensor data

robot cmds

robot cmds

encoders

vfh

sensor data

long

term

map

short

term

map

sketch

log files


Spatial reasoning with guinness

imageserver

PDA(MU)

gesture

speech

GUI(EUT)

robot

mapserver

SRserver

pose

THE PLANNED ARCHITECTURE

user commands

and responses

oldest short term map

query &

label

speech

commands

SR &

map info

user commands

and responses

spatial

behaviors

Cortex

sensor info

robot pose

robot pose

robot commands

continuous

localization

trulla

obstacle

avoidance

corrections

sketch

directives

& feedback

sensor data

robot cmds

encoders

vfh

sensor data

long

term

map

short

term

map


Spatial reasoning with guinness

SRserver

Behind the table

User:How many objects do you see?

Robot: I am sensing four objects.

User: Object 2 is a table.

User: Describe the scene.

Robot: There are objects on my front right. The object number 4 is mostly in front of me. The table is behind me.

User: Go behind the table.


Spatial reasoning with guinness

between object 1 and object 2

using the midpoint between closest points

using the midpoint between centroids

using the CFMD


Spatial reasoning with guinness

Image Server


Spatial reasoning with guinness

Understanding Sketched Route Maps

PATH DESCRIPTION GENERATED FROM THE SKETCHED ROUTE MAP

1. When table is mostly on the right and door is mostly to the rear (and close) Then Move forward

2. When chair is in front or mostly in front Then Turn right

3. When table is mostly on the right and chair is to the left rear Then Move forward

4. When cabinet is mostly in front Then Turn left

5. When ATM is in front or mostly in front Then Move forward

6. When cabinet is mostly to the rear and tree is mostly on the left and ATM is mostly in front Then Stop


Spatial reasoning with guinness

References

[1] M. Skubic, P. Matsakis, G. Chronis and J. Keller, "Generating Multi-Level Linguistic Spatial Descriptions from Range Sensor Readings Using the Histogram of Forces", Autonomous Robots, Vol. 14, No. 1, Jan., 2003, pp. 51-69.

[2] M. Skubic, D. Perzanowski, S. Blisard, A. Schultz, W. Adams, M. Bugajska and D. Brock “Spatial Language for Human-Robot Dialogs,” IEEE Transactions on SMC, Part C, to appear in thespecial issue on Human-Robot Interaction.

[3] M. Skubic, S. Blisard, C. Bailey, J.A. Adams and P. Matsakis, "Qualitative Analysis of Sketched Route Maps: Translating a Sketch into Linguistic Descriptions," IEEE Transactions on SMC Part B, to appear.

[4] G. Chronis and M. Skubic, “Sketch-Based Navigation for Mobile Robots,” In Proc. of the IEEE 2003 Intl. Conf. on Fuzzy Systems, May, 2003, St. Louis, MO.

[5] G. Scott, J.M. Keller, M. Skubic and R.H. Luke III, “Face Recognition for Homeland Security: A Computational Intelligence Approach,” In Proc. of the IEEE 2003 Intl. Conf. on Fuzzy Systems, May, 2003, St. Louis, MO.


Spatial reasoning with guinness

Guinness and Gang

From left to right

George Chronis, Grant Scott, Dr. Marge Skubic, Matt Williams,

Craig Bailey, Bob Luke, Charlie Huggard and Sam Blisard

Missing: Dr. Jim Keller


Spatial reasoning with guinness

Sketch-Based Navigation

The robot traversing the sketched route

The sketched route map


Spatial reasoning with guinness

Sketch-Based Navigation

The robot traversing the sketched route

The digitized sketched

route map


Spatial reasoning with guinness

Sketch-Based Navigation

The robot traversing the sketched route

The digitized sketched

route map


Spatial reasoning with guinness

Acknowledgements

This work has been supported by ONR and the U.S. Naval Research Lab. Natural language understanding is accomplished using a system developed by NRL, called Nautilus [Wauchope, 2000]. We also want to acknowledge the help of Dr. Pascal Matsakis.


Spatial reasoning with guinness

NRL’s Multimodal Robot Interface


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