Abstract
In this work we report results on the use of symbolic knowledge representation and reasoning (KRR) for perceptual anchoring. Anchoring is the creation and maintenance of a connection between the symbolic and perceptual description that refer to the same physical object in the environment. We extend the anchoring framework to manage the symbolic information in a KRR system, and to exploit this knowledge and the inference mechanism to recover from failures in the anchoring of symbols. We show a simulated scenario where the system communicates with a user to interactively resolve an ambiguous description using the knowledge base, and in particular spatial relations. This is a first step towards a KRR-supported anchoring framework that we will use for human-robot communication.
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