Ontology representation and instantiation for Semantic map building by a Mobile robot

Abstract

To offer sustainable robotic services, service robots must accumulate knowledge by using recognition results and choose a action for services intelligently. Robust knowledge instantiation and update by using imperfect sensing data such as misidentification of perception is a main issue to implement semantic robot intelligence. In this paper, robust knowledge acquisition method is proposed to enable robots to detect falsity of object recognition for robust knowledge instantiation, where spatial reasoning, temporal reasoning, movable properties and data confidences are considered.