Visual Scene Detection and Interpretation using Encyclopedic Knowledge and Formal Description Logic
Dejan Pangercic, Rok Tavčar, Moritz Tenorth, Michael Beetz · 2009
Abstract — In this system paper we report on our experience while working with a top-down guided 3D CAD model-based vision algorithm, being executed by an autonomous robot on objects (tableware and cutlery) in an Assistive Household environment. Top-down guidance is shaped upon how-to instructions which are parsed and extracted from the wikihow.com webpage- one of the world’s largest resource of natural language task descriptions. Therein we selected a How to set a table entry and thus constructed this paper upon conversely interpreting the table setting for a meal. The robot’s knowledge base is represented in Description Logics (DL) using the Web Ontology Language, and the inferences are obtained by virtue of SWI-Prolog queries. The whole proposed system is controlled by a modern, leading-edge Reactive Plan Language (RPL) which is the basic planning feature in the Assistive Household. (a) Correct Result, green Mug (b) Hallucinated red Mug, correctly discarded by the proposed system I.