RT Journal Article
T1 Olfaction, Vision, and Semantics for Mobile Robots. Results of the IRO Project.
A1 Monroy, Javier
A1 Ruiz-Sarmiento, Jose-Raul
A1 Moreno, Francisco-Angel
A1 Galindo, Cipriano
A1 Gonzalez-Jimenez, Javier
K1 chemical sensors
K1 e-nose
K1 gas distribution mapping
K1 gas source localization
K1 machine learning
K1 object recognition
K1 ontology
K1 robotics
K1 robotics olfaction
K1 semantic networks
AB Olfaction is a valuable source of information about the environment that has not been sufficiently exploited in mobile robotics yet. Certainly, odor information can contribute to other sensing modalities, e.g., vision, to accomplish high-level robot activities, such as task planning or execution in human environments. This paper organizes and puts together the developments and experiences on combining olfaction and vision into robotics applications, as the result of our five-years long project IRO: Improvement of the sensory and autonomous capability of Robots through Olfaction. Particularly, it investigates mechanisms to exploit odor information (usually coming in the form of the type of volatile and its concentration) in problems such as object recognition and scene-activity understanding. A distinctive aspect of this research is the special attention paid to the role of semantics within the robot perception and decision-making processes. The obtained results have improved the robot capabilities in terms of efficiency, autonomy, and usefulness, as reported in our publications.
YR 2019
FD 2019-08-09
LK http://hdl.handle.net/10668/14386
UL http://hdl.handle.net/10668/14386
LA en
DS RISalud
RD Apr 18, 2025