| Título: | Towards semi-supervised learning of semantic spatial concepts for mobile robots |
| Autores: |
Martínez Gómez, Jesús Caputo, Barbara |
| Fecha: |
2011-03-15 2011-03-15 2010-09 |
| Publicador: | RUA Docencia |
| Fuente: |
 |
| Tipo: | info:eu-repo/semantics/article |
| Tema: |
Place recognition Semantic place representation Online learning Kernel methods Ciencia de la Computación e Inteligencia Artificial |
| Descripción: |
The ability of building robust semantic space representations of environments is crucial for the development of truly autonomous robots. This task, inherently connected with cognition, is traditionally achieved by training the robot with a supervised learning phase. We argue that the design of robust and autonomous systems would greatly benefit from adopting a semi-supervised online learning approach. Indeed, the support of open-ended, lifelong learning is fundamental in order to cope with the dazzling variability of the real world, and online learning provides precisely this kind of ability. Here we focus on the robot place recognition problem, and we present an online place classification algorithm that is able to detect gap in its own knowledge based on a confidence measure. For every incoming new image frame, the method is able to decide if (a) it is a known room with a familiar appearance, (b) it is a known room with a challenging appearance, or (c) it is a new, unknown room. Experiments on ImageCLEF database and a subset of the challenging COLD database show the promise of our approach. This work was supported by the Spanish “Junta de Comunidades de Castilla-La Mancha” under PCI08-0048-8577 and PBI-0210-7127 projects (J. M.-G.) and by the SS2Rob project (B.C.). |
| Idioma: | Inglés |
1 Choosing the correct paradigm for unknown words in rule-based machine translation systems por Sánchez Cartagena, Víctor Manuel,Esplà Gomis, Miquel,Sánchez Martínez, Felipe,Pérez Ortiz, Juan Antonio | 6 Análisis Real de Varias Variables II. Problemas (27-3-2013) por Conde Calero, Juan Manuel |
2 Using external sources of bilingual information for on-the-fly word alignment por Esplà Gomis, Miquel,Sánchez Martínez, Felipe,Forcada Zubizarreta, Mikel L. | 7 Introducción a mirada/s trans/identitarias,Introduction to trans-identitary look(s) por Amaro Quintas, Ángel Manuel |
3 | 8 |
4 | 9 |
5 Los espacios periurbanos en el área ibérica contestana: las novedades y algunas reflexiones históricas por Sala Sellés, Feliciana | 10 Matrimonio igualitario y parentesco: discursos, hegemonías y acontecimiento,Egalitarian marriage and kinship: discourses, hegemony and event por Buzaglo, Analía,Morandi, Mariela,Culla, Mónica |