Abstract
We propose a general-purpose virtual receptor for 3D robot vision based on RGB-D sensor data. The application independent robot vision framework performs two basic tasks: it creates a 3D metric map of the environment and it recognizes basic 3D solids and 2D textures and shapes. The design methodology follows the principle of knowledge-based systems, as the virtual receptor is structured into a knowledge base (including the model, data and inference rules) and a control strategy. Procedural semantic networks are chosen as the knowledge representation language. Their main features - an object-oriented modeling of the environment and non-monotonic logic of inferences - makes them specially suitable for 3D object recognition in RGB-D images. The interfaces to other modules of a autonomous robot control structure are discussed also - these are: the main control and ontology modules.
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Kasprzak, W., Kornuta, T., Zieliński, C. (2014). A Virtual Receptor in a Robot Control Framework. In: Szewczyk, R., Zieliński, C., Kaliczyńska, M. (eds) Recent Advances in Automation, Robotics and Measuring Techniques. Advances in Intelligent Systems and Computing, vol 267. Springer, Cham. https://doi.org/10.1007/978-3-319-05353-0_38
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DOI: https://doi.org/10.1007/978-3-319-05353-0_38
Publisher Name: Springer, Cham
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