 |
LAAS-IDEA : Computing Service : Development, Operations and Support |  |
Conference papers
Simulation-based physics reasoning for consistent scene estimation in an HRI context
Abstract : Reasoning about spatial and geometric relations between objects in a tabletop human-robot interaction is a challenge due to the perception not being always consistent: objects placed on a table seem to be slightly in the air; they overlap; they disappear due to occlusions. Yet, interpreting and anchoring perceptual data in a physically consistent estimation of the scene is a crucial ability for humans, and thus robots in HRI context. In this paper we present a simulation-based physics reasoner integrated in a lightweight situation-assessment framework called Underworlds, that allows the robot to stabilize objects and build at run-time a consistent estimation of the scene, even for entirely hidden objects, while inferring the actions performed by its human partner.
Cited literature [21 references]
https://hal.archives-ouvertes.fr/hal-02925945
Contributor : Yoan Sallami <>
Submitted on : Monday, August 31, 2020 - 10:48:20 AM
Last modification on : Wednesday, January 20, 2021 - 3:38:30 AM
Long-term archiving on: : Tuesday, December 1, 2020 - 12:14:24 PM
Contributor : Yoan Sallami <>
Submitted on : Monday, August 31, 2020 - 10:48:20 AM
Last modification on : Wednesday, January 20, 2021 - 3:38:30 AM
Long-term archiving on: : Tuesday, December 1, 2020 - 12:14:24 PM
File
sallami2019simulation.pdf
Files produced by the author(s)