Optimizations on semantic environment management: an application for humanoid robot home assistance

Abstract

This article introduces some optimization mechanisms focused on environment management, object recognition, and environment interaction. Although the generality of the presented system, this work will be focused on its application on home assistance humanoid robots. For this purpose, a generic environment formalization procedure for semantic scenery description is introduced. As the main contribution of this work, some techniques for a more efficient use of the environment knowledge are proposed. That way, the application of an areabased discrimination mechanism will avoid to process large amounts of data, useless in the current context, improving the object recognition, and characterizing the available interactions in the current area. Finally, the formalized description, and the optimization procedure, will be tested and verified on a specific home scenario using a humanoid robot