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Staff Publications

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    'Staff publications' is the digital repository of Wageningen University & Research

    'Staff publications' contains references to publications authored by Wageningen University staff from 1976 onward.

    Publications authored by the staff of the Research Institutes are available from 1995 onwards.

    Full text documents are added when available. The database is updated daily and currently holds about 240,000 items, of which 72,000 in open access.

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Record number 561021
Title A perceptual memory system for grounding semantic representations in intelligent service robots
Author(s) Oliveira, Miguel; Lim, Gi Hyun; Lopes, Luis Seabra; Kasaei, S.H.; Tome, Ana Maria; Chauhan, Aneesh
Source In: IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. - Institute of Electrical and Electronics Engineers Inc. (IEEE International Conference on Intelligent Robots and Systems ) - ISBN 9781479969340 - p. 2216 - 2223.
Event 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Chicago, 2014-09-14/2014-09-18
DOI https://doi.org/10.1109/IROS.2014.6942861
Publication type Contribution in proceedings
Publication year 2014
Abstract

This paper addresses the problem of grounding semantic representations in intelligent service robots. In particular, this work contributes to addressing two important aspects, namely the anchoring of object symbols into the perception of the objects and the grounding of object category symbols into the perception of known instances of the categories. The paper discusses memory requirements for storing both semantic and perceptual data and, based on the analysis of these requirements, proposes an approach based on two memory components, namely a semantic memory and a perceptual memory. The perception, memory, learning and interaction capabilities, and the perceptual memory, are the main focus of the paper. Three main design options address the key computational issues involved in processing and storing perception data: a lightweight, NoSQL database, is used to implement the perceptual memory; a thread-based approach with zero copy transport of messages is used in implementing the modules; and a multiplexing scheme, for the processing of the different objects in the scene, enables parallelization. The system is designed to acquire new object categories in an incremental and open-ended way based on user-mediated experiences. The system is fully integrated in a broader robot system comprising low-level control and reactivity to high-level reasoning and learning.

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