Challenges in Situation Understanding and Scene Perception
摘要
During the execution of long-horizon tasks in complex environments, it is inevitable that a robot faces many situations that are not part of the nominal operation. To achieve long-term autonomy, one crucial capability of future robots is then to reason about their perception to detect unexpected situations and handle them. In this paper we discuss a number of challenges in situation understanding and scene perception and our current research towards the development of a safe adaptive, cognitive robotic deliberation system.