论文标题
迈向服务机器人技术中视觉智能的框架：认知要求和差距分析
Towards a Framework for Visual Intelligence in Service Robotics: Epistemic Requirements and Gap Analysis
论文作者
论文摘要
在现实世界中运行的服务机器人所需的关键功能是视觉智能的功能，即使用其视觉系统，推理组件和背景知识以理解其环境的能力。在本文中，我们基于现实的机器人场景中的对象识别试验出现的错误，分析了文献中的现有框架，从文献中的人类样式智力以及从自下而上进行分析的视觉智能的认知要求。最后，我们使用这些要求来评估当前的知识库用于服务机器人技术，并确定其为视觉智能提供的支持中的空白。这些差距为开发更有效的视觉智能知识表征提供了研究议程的基础。
A key capability required by service robots operating in real-world, dynamic environments is that of Visual Intelligence, i.e., the ability to use their vision system, reasoning components and background knowledge to make sense of their environment. In this paper, we analyze the epistemic requirements for Visual Intelligence, both in a top-down fashion, using existing frameworks for human-like Visual Intelligence in the literature, and from the bottom up, based on the errors emerging from object recognition trials in a real-world robotic scenario. Finally, we use these requirements to evaluate current knowledge bases for Service Robotics and to identify gaps in the support they provide for Visual Intelligence. These gaps provide the basis of a research agenda for developing more effective knowledge representations for Visual Intelligence.
