S-AVE Semantic Active Vision Exploration and Mapping of Indoor Environments for Mobile Robots

Semantic mapping is fundamental to enable cognition and high-level planning in robotics. It is a difficult task due to generalization to different scenarios and sensory data types. Hence, most techniques do not obtain a rich and accurate semantic map of the environment and of the objects therein. To tackle this issue we present a novel approach that exploits active vision and drives environment exploration aiming at improving the quality of the semantic map

Perception Policies for Intelligent Virtual Agents

Agents deployed to dynamic environments, such as virtual and augmented reality,  need specific mechanisms to capture relevant features from the environment. These mechanisms enable agents to avoid process some useless information and act quickly. The primary goal of this work is to investigate the perception policies of an agent situated in a virtual environment. Perception policies allow giving more priority to sensors perceiving the changes occurring in the environment. Based on the proposed model, each sensor follows a strategy that can change its priority in the overall system. We developed two policies to change the sensors prioritization. The performance evaluation of the proposed model consists of comparing both approaches in a highly dynamic environment