2014 IEEE International Conference on Robotics and Automation pages:935 -942
IEEE International Conference on Robotics and Automation (ICRA) date:June 2014
We propose a relational model for online object
tracking during human activities using the Distributional
Clauses Particle Filter framework, which allows to encode
commonsense world knowledge such as qualitative physical
laws, object properties as well as relations between them. We tested the framework during a packaging activity where many objects are invisible for longer periods of time. In addition, we extended the framework to learn the parameters online and tested it in a tracking scenario involving objects connected by strings.