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基于“原型”的机器人开放式室内场所感知算法

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Keywords: 开放式室内环境,开放式场所感知,原型理论,相似性度量,方向关系描述

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Abstract:

随着现代开放式室内设计理念的流行,一些功能场所逐渐转变为开放或半开放式,对这类场所的认知成为服务机器人面临的新挑战。文中提出一种基于认知心理学原型理论的算法来提高机器人对开放式室内场所的认知能力。首先,设计场所概念的原型模型,主要包括场所概念的特征物品描述和物品间典型空间关系描述。然后提出一种相似性度量函数及一种空间关系评分准则,将两者用于度量当前环境与场所概念原型的相似程度。最后,讨论场所区域感知问题及区域交叠对场所概念感知的影响。仿真实验表明,该算法能够解决对开放式室内场所的感知,具有一定灵活性和鲁棒性。

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