Simulation-based physics reasoning for consistent scene estimation in an HRI context

Sallami, Yoan; Lemaignan, Severin; Clodic, Aurelie; Alami, Rachid

Abstract

© 2019 IEEE. Reasoning about spatial and geometric relations between objects in a tabletop human-robot interaction is a challenge due to the perception not being always consistent: objects placed on a table seem to be slightly in the air; they overlap; they disappear due to occlusions. Yet, interpreting and anchoring perceptual data in a physically consistent estimation of the scene is a crucial ability for humans, and thus robots in HRI context. In this paper we present a simulation-based physics reasoner integrated in a lightweight situation-assessment framework called Underworlds, that allows the robot to stabilize objects and build at run-time a consistent estimation of the scene, even for entirely hidden objects, while inferring the actions performed by its human partner.

• Presentation Conference Type: Conference Paper (published)
• Conference Name: IEEE/RSJ International Conference on Intelligent Robots and Systems
• Start Date: Nov 4, 2019
• End Date: Nov 8, 2019
• Acceptance Date: Jun 1, 2019
• Online Publication Date: Jan 27, 2020
• Publication Date: Nov 1, 2019
• Deposit Date: Nov 26, 2019
• Pages: 7834-7841
• Book Title: Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems
• ISBN: 9781728140049
• DOI: https://doi.org/10.1109/IROS40897.2019.8968106
• Public URL: https://uwe-repository.worktribe.com/output/4742947
• Related Public URLs: https://academia.skadge.org/publis/sallami2019simulation.pdf