Simulation-based physics reasoning for consistent scene estimation in an HRI context
Résumé
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.
Domaines
Robotique [cs.RO]Origine | Fichiers produits par l'(les) auteur(s) |
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