Spatial Reasoning with Guinness

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Spatial Reasoning with Guinness
University of Missouri, Columbia, MO
References
Acknowledgements
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THE STARTING ARCHITECTURE
user commands and responses
oldest short term map
speech commands
palmhelper
robot pose
sensor info
robot pose
continuous localization
trulla
corrections
robot cmds
encoders
vfh
sensor data
long term map
short term map
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THE CURRENT ARCHITECTURE
user commands and responses
oldest short term map
speech commands
user commands and responses
sketch log files
Cortex
sensor info
robot_spatial
robot pose
robot pose
continuous localization
trulla
corrections
sensor data robot cmds
robot cmds
encoders
vfh
sensor data
long term map
short term map
sketch log files
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THE PLANNED ARCHITECTURE
user commands and responses
oldest short term map
query label
speech commands
SR map info
user commands and responses
spatial behaviors
Cortex
robot pose
sensor info
robot pose
robot commands
continuous localization
trulla
obstacle avoidance
corrections
sketch directives feedback
sensor data robot cmds
encoders
vfh
sensor data
long term map
short term map
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SRserver
Behind the table
User How many objects do you see? Robot I am
sensing four objects. User Object 2 is a
table. User Describe the scene. Robot There
are objects on my front right. The object number
4 is mostly in front of me. The table is behind
me. User Go behind the table.
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between object 1 and object 2
using the midpoint between closest points
using the midpoint between centroids
using the CFMD
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Image Server
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Understanding Sketched Route Maps
PATH DESCRIPTION GENERATED FROM THE SKETCHED
ROUTE MAP 1. When table is mostly on the right
and door is mostly to the rear (and close) Then
Move forward 2. When chair is in front or mostly
in front Then Turn right 3. When table is mostly
on the right and chair is to the left rear Then
Move forward 4. When cabinet is mostly in front
Then Turn left 5. When ATM is in front or mostly
in front Then Move forward 6. When cabinet is
mostly to the rear and tree is mostly on the left
and ATM is mostly in front Then Stop
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References
1 M. Skubic, P. Matsakis, G. Chronis and J.
Keller, "Generating Multi-Level Linguistic
Spatial Descriptions from Range Sensor Readings
Using the Histogram of Forces", Autonomous
Robots, Vol. 14, No. 1, Jan., 2003, pp. 51-69.
2 M. Skubic, D. Perzanowski, S. Blisard, A.
Schultz, W. Adams, M. Bugajska and D. Brock
Spatial Language for Human-Robot Dialogs, IEEE
Transactions on SMC, Part C, to appear in the
special issue on Human-Robot Interaction. 3 M.
Skubic, S. Blisard, C. Bailey, J.A. Adams and P.
Matsakis, "Qualitative Analysis of Sketched Route
Maps Translating a Sketch into Linguistic
Descriptions," IEEE Transactions on SMC Part B,
to appear. 4 G. Chronis and M. Skubic,
Sketch-Based Navigation for Mobile Robots, In
Proc. of the IEEE 2003 Intl. Conf. on Fuzzy
Systems, May, 2003, St. Louis, MO. 5 G. Scott,
J.M. Keller, M. Skubic and R.H. Luke III, Face
Recognition for Homeland Security A
Computational Intelligence Approach, In Proc. of
the IEEE 2003 Intl. Conf. on Fuzzy Systems, May,
2003, St. Louis, MO.
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Guinness and Gang
From left to right George Chronis, Grant Scott,
Dr. Marge Skubic, Matt Williams, Craig Bailey,
Bob Luke, Charlie Huggard and Sam Blisard
Missing Dr. Jim Keller
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Sketch-Based Navigation
The robot traversing the sketched route
The sketched route map
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Sketch-Based Navigation
The robot traversing the sketched route
The digitized sketched route map
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Sketch-Based Navigation
The robot traversing the sketched route
The digitized sketched route map
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Acknowledgements
This work has been supported by ONR and the U.S.
Naval Research Lab. Natural language
understanding is accomplished using a system
developed by NRL, called Nautilus Wauchope,
2000. We also want to acknowledge the help of
Dr. Pascal Matsakis.
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NRLs Multimodal Robot Interface