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Ruiz-Sarmiento, José Raúl Galindo-Andrades, Cipriano González-Jiménez, Antonio Javier 2024-09-28T17:12:44Z 2024-09-28T17:12:44Z 2015 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 https://hdl.handle.net/10630/33858 10.1016/j.eswa.2015.07.033 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. eng open access Robots autónomos Scene Object Recognition for Mobile Robots Through Semantic Knowledge and Probabilistic Graphical Models journal article