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

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

Authors

Yoan Sallami

Aurelie Clodic

Rachid Alami



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.

Start Date Nov 4, 2019
Publication Date Nov 1, 2019
Pages 7834-7841
Book Title Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems
ISBN 9781728140049
APA6 Citation Sallami, Y., Lemaignan, S., Clodic, A., & Alami, R. (2019). Simulation-based physics reasoning for consistent scene estimation in an HRI context. In Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems. , (7834-7841). https://doi.org/10.1109/IROS40897.2019.8968106
DOI https://doi.org/10.1109/IROS40897.2019.8968106
Related Public URLs https://academia.skadge.org/publis/sallami2019simulation.pdf
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