Olfaction, Vision, and Semantics for Mobile Robots. Results of the IRO Project

Sensors

Javier Monroy¹  Cipriano Galindo¹  Francisco-Angel Moreno¹  Jose-Raul Ruiz-Sarmiento¹  Javier Gonzalez-Jimenez¹ 

[1] Machine Perception and Intelligent Robotics group (MAPIR), Dept. of System Engineering and Automation Biomedical Research Institute of Malaga (IBIMA), University of Malaga, 29071 Málaga, Spain;

关键词: robotics;    robotics olfaction;    chemical sensors;    gas source localization;    e-nose;    gas distribution mapping;    object recognition;    semantic networks;    machine learning;    ontology;   

DOI  :  10.3390/s19163488

来源: DOAJ

【 摘 要 】

Olfaction is a valuable source of information about the environment that has not been sufficiently exploited in mobile robotics yet. Certainly, odor information can contribute to other sensing modalities, e.g., vision, to accomplish high-level robot activities, such as task planning or execution in human environments. This paper organizes and puts together the developments and experiences on combining olfaction and vision into robotics applications, as the result of our five-years long project IRO: Improvement of the sensory and autonomous capability of Robots through Olfaction. Particularly, it investigates mechanisms to exploit odor information (usually coming in the form of the type of volatile and its concentration) in problems such as object recognition and scene−activity understanding. A distinctive aspect of this research is the special attention paid to the role of semantics within the robot perception and decision-making processes. The obtained results have improved the robot capabilities in terms of efficiency, autonomy, and usefulness, as reported in our publications.

【 授权许可】

Unknown