RT Journal Article
T1 Scene Object Recognition for Mobile Robots Through Semantic Knowledge and Probabilistic Graphical Models
A1 Ruiz-Sarmiento, José Raúl
A1 Galindo-Andrades, Cipriano
A1 González-Jiménez, Antonio Javier
K1 Robots autónomos
AB Scene object recognition is an essential requirement for intelligent mobile robots. In addition to geometric or appearance features, modern recogni- tion systems strive to incorporate contextual information, normally modelled through Probabilistic Graphical Models (PGMs) or Semantic Knowledge (SK). However, these approaches, separately, show some weaknesses that limit their application, e.g., the exponential complexity of the probabilistic inference over PGMs or the inability of SK to handle uncertainty. This pa- per presents a hybrid PGM-SK system for object recognition that integrates both techniques reducing their individual limitations and gaining in prob- abilistic inference efficiency, performance robustness, uncertainty handling, and providing coherent results according to domain knowledge codified by a human expert. We support this claim with an extensive experimental eval- uation according to both recognition success and time requirements in real scenarios from two datasets (NYU2 and UMA-offices). The yielded figures support the suitability of the hybrid PGM-SK recognition system, and its applicability to mobile robotic agents.
PB Elsevier
YR 2015
FD 2015
LK https://hdl.handle.net/10630/33858
UL https://hdl.handle.net/10630/33858
LA eng
NO José-Raúl Ruiz-Sarmiento, Cipriano Galindo, Javier Gonzalez-Jimenez, Scene object recognition for mobile robots through Semantic Knowledge and Probabilistic Graphical Models, Expert Systems with Applications, Volume 42, Issue 22, 2015, Pages 8805-8816, ISSN 0957-4174, https://doi.org/10.1016/j.eswa.2015.07.033
NO This work has been funded by the Spanish grant program FPU-MICINN 2010 and the Spanish projects “TAROTH: New developments toward a robot at home” (Ref. DPI2011-25483) and “PROMOVE: Advances in mobile robotics for promoting independent life of elders” (Ref. DPI2014-55826-R).Both projects are co-founded by “Fondo Europeo de Desarrollo Regional - FEDER”.
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 22 ene 2026