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— | common-sense_reasoning_about_object_locations [2013/02/04 11:56] – [Commonsense knowledge about object locations] tenorth | ||
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+ | ====== Commonsense knowledge about object locations ====== | ||
+ | Commonsense knowledge about typical object locations was acquired by the Open Mind Indoor Common Sense (OMICS [[http:// | ||
+ | |||
+ | ===== Getting Started ===== | ||
+ | First you have to build the rospackage knowrob_omics and then run it using rosprolog. | ||
+ | < | ||
+ | | ||
+ | | ||
+ | </ | ||
+ | |||
+ | ===== Queries about object locations ===== | ||
+ | To query the probability of finding an object in a given room type you can use the following query: | ||
+ | < | ||
+ | ?- probability_given(knowrob:' | ||
+ | Obj = ' | ||
+ | Pr = 0.003865979381443299 ; | ||
+ | Obj = ' | ||
+ | Pr = 0.006443298969072165 | ||
+ | </ | ||
+ | |||
+ | If you are interested in what type of room you could find a given object use the following query: | ||
+ | < | ||
+ | ?- bayes_probability_given(knowrob:' | ||
+ | | ||
+ | Room = ' | ||
+ | Pr = 0.21657432923639094 ; | ||
+ | Room = ' | ||
+ | Pr = 0.05065150074968034 ; | ||
+ | Room = ' | ||
+ | Pr = 0.07410126961527308 ; | ||
+ | Room = ' | ||
+ | Pr = 0.08278900467361545 ; | ||
+ | Room = ' | ||
+ | Pr = 0.08394689285086883 ; | ||
+ | Room = ' | ||
+ | Pr = 0.24008811355348483 | ||
+ | </ | ||
+ | |||
+ | You can see the processed database table entries with: | ||
+ | < | ||
+ | ?- rdf_has(Entry, | ||
+ | | ||
+ | | ||
+ | Entry = ' | ||
+ | Obj = ' | ||
+ | Room = ' | ||
+ | Entry = ' | ||
+ | Obj = ' | ||
+ | Room = ' | ||
+ | </ | ||
+ | |||
+ | Get the list of Room types: | ||
+ | < | ||
+ | ?- findall(Room, | ||
+ | | ||
+ | | ||
+ | </ |