Simulation-based physics reasoning for consistent scene estimation in an HRI context
Yoan Sallami, Séverin Lemaignan, Aurélie Clodic, Rachid Alami
Abstract
Reasoning about spatial and geometric relations between objects in a tabletop human-robot interaction is a challenge due to the perception not being always consistent: objects placed on a table seem to be slightly in the air; they overlap; they disappear due to occlusions. Yet, interpreting and anchoring perceptual data in a physically consistent estimation of the scene is a crucial ability for humans, and thus robots in HRI context. In this paper we present a simulation-based physics reasoner integrated in a lightweight situation-assessment framework called Underworlds, that allows the robot to stabilize objects and build at run-time a consistent estimation of the scene, even for entirely hidden objects, while inferring the actions performed by its human partner.
BibTeX
@inproceedings{iros2019_simulationbasedp,
title = {Simulation-based physics reasoning for consistent scene estimation in an HRI context},
author = {Yoan Sallami and Séverin Lemaignan and Aurélie Clodic and Rachid Alami},
booktitle = {IROS 2019},
year = {2019}
}