Structural descriptions in human-assisted robot visual learning

Geert-Jan Kruijff, John Kelleher, Gregor Berginc, Ales Leonardis

In: Proceedings of the 1st Annual Conference on Human-Robot Interaction. ACM/IEEE International Conference on Human-Robot Interaction (HRI-06) Salt Lake City UT United States ACM 2006.


The paper presents an approach to using structural descriptions, obtained through a human-robot tutoring dialogue, as labels for the visual ob ject models a robot learns. The paper shows how structural descriptions enable relating models for different aspects of one and the same ob ject, and how being able to relate descriptions for visual models and discourse referents enables incremental updating of model descriptions through dialogue (either robot- or human-initiated). The approach has been implemented in an integrated architecture for human-assisted robot visual learning. (pdf, 56 KB )

Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence