Shopping for Groceries and Putting Them Away

author: Dejan Pangerčič, Technische Universität München
published: Dec. 19, 2011,   recorded: August 2011,   views: 2168

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The video shows TUM-James (a PR2 robot) simulating the shopping task by bringing the groceries home and placing them in accordance to a priori learnt organizational patterns in households. The robot uses the 3D perception algorithms from point cloud library in order to detect object candidates in the storage rack and system for textured objects detection in order to recognize objects. Grasping and manipulation of the shopping basket is done using James's haptic capabilities. Finally, to infer where do the objects belong to, TUM-James queries a system for knowledge modeling and resoning and computes the similarities (WUP similarity) to the other objects in the kitchen's ontology using techniques from semantic information retrieval.

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