Differences

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--- doc:common-sense_reasoning_about_object_locations [2013/04/22 08:41] – created admin
+++ doc:common-sense_reasoning_about_object_locations [2014/11/28 12:44] (current) – [Commonsense knowledge about object locations] admin
@@ Line 1: / Line 1: @@
 ====== Commonsense knowledge about object locations ======
+~~NOTOC~~
+\\
+^ This page describes the 'catkinized' version of KnowRob that uses the [[http://wiki.ros.org/catkin/|catkin buildsystem]] and the pure Java-based [[http://wiki.ros.org/rosjava|rosjava]]. The documentation for the older version, which was based on the rosbuild buildsystem and rosjava_jni, can be found [[/doc/common-sense_reasoning_about_object_locations?rev=1401968329|here]].^
+\\
 Commonsense knowledge about typical object locations was acquired by the Open Mind Indoor Common Sense (OMICS [[http://openmind.hri-us.com/]]) project. We processed the natural language database entries and translated them to well-defined concepts within the KnowRob ontology as described in [[http://ias.cs.tum.edu/_media/spezial/bib/kunze10omics.pdf|Putting People's Common Sense into Knowledge Bases of Household Robots]]. In [[http://ias.cs.tum.edu/_media/spezial/bib/kunze12objsearch.pdf| Searching Objects in Large-scale Indoor Environments: A Decision-thereotic Approach]] we applied this knowledge in object search tasks.
 ===== Getting Started =====
-First you have to build the rospackage knowrob_omics and then run it using rosprolog.
+You have to build the //knowrob_omics// package in //knowrob_addons// and run it using rosprolog.
 <code>
- rosmake knowrob_omics
  rosrun rosprolog rosprolog knowrob_omics
 </code>
@@ Line 12: / Line 15: @@
 ===== Queries about object locations =====
 To query the probability of finding an object in a given room type you can use the following query:
-<code>
+<code prolog>
- ?- probability_given(knowrob:'OmicsLocations', Obj, knowrob:'Kitchen', Pr).
+?- probability_given(knowrob:'OmicsLocations', Obj, knowrob:'Kitchen', Pr).
- Obj = 'http://ias.cs.tum.edu/kb/knowrob.owl#CitrusFruit',
+Obj = knowrob:'CitrusFruit',
- Pr = 0.003865979381443299 ;
+Pr = 0.0038510911424903724 ;
- Obj = 'http://ias.cs.tum.edu/kb/knowrob.owl#Bowl-Eating',
+Obj = knowrob:'Bowl-Eating',
- Pr = 0.006443298969072165
+Pr = 0.006418485237483954 ;
+Obj = knowrob:'PhysicalDevice',
+Pr = 0.037227214377406934 ;
+Obj = knowrob:'Vegetable-Food',
+Pr = 0.006418485237483954
 </code>
 If you are interested in what type of room you could find a given object use the following query:
 <code>
- ?- bayes_probability_given(knowrob:'OmicsLocations', Room,
+?- bayes_probability_given(knowrob:'OmicsLocations', Room, knowrob:'Sandwich',Pr).
- knowrob:'Sandwich',Pr).
+Room = knowrob:'Kitchen',
- Room = 'http://ias.cs.tum.edu/kb/knowrob.owl#Kitchen',
+Pr = 0.20109219415371862 ;
- Pr = 0.21657432923639094 ;
+Room = knowrob:'OfficeRoom',
- Room = 'http://ias.cs.tum.edu/kb/knowrob.owl#OfficeRoom',
+Pr = 0.046915489441673196 ;
- Pr = 0.05065150074968034 ;
+Room = knowrob:'Hallway',
- Room = 'http://ias.cs.tum.edu/kb/knowrob.owl#Hallway',
+Pr = 0.06843635615803703 ;
- Pr = 0.07410126961527308 ;
+Room = knowrob:'Classroom',
- Room = 'http://ias.cs.tum.edu/kb/knowrob.owl#Classroom',
+Pr = 0.07637777632654648
- Pr = 0.08278900467361545 ;
- Room = 'http://ias.cs.tum.edu/kb/knowrob.owl#ConferenceRoom',
- Pr = 0.08394689285086883 ;
- Room = 'http://ias.cs.tum.edu/kb/knowrob.owl#RestaurantSpace',
- Pr = 0.24008811355348483
 </code>
 You can see the processed database table entries with:
 <code>
- ?- rdf_has(Entry, rdf:type, knowrob:'OmicsLocations'),
+?- rdf_has(Entry, rdf:type, knowrob:'OmicsLocations'),
- rdf_has(Entry,knowrob:subject,Obj),
+   rdf_has(Entry,knowrob:subject,Obj),
- rdf_has(Entry,knowrob:object,Room).
+   rdf_has(Entry,knowrob:object,Room).
- Entry = 'http://ias.cs.tum.edu/kb/knowrob.owl#OmicsLocations-0',
+Entry = knowrob:'OmicsLocations-0',
- Obj = 'http://ias.cs.tum.edu/kb/knowrob.owl#CitrusFruit',
+Obj = knowrob:'CitrusFruit',
- Room = 'http://ias.cs.tum.edu/kb/knowrob.owl#Kitchen' ;
+Room = knowrob:'Kitchen' ;
- Entry = 'http://ias.cs.tum.edu/kb/knowrob.owl#OmicsLocations-1',
+Entry = knowrob:'OmicsLocations-1',
- Obj = 'http://ias.cs.tum.edu/kb/knowrob.owl#Bowl-Eating',
+Obj = knowrob:'Bowl-Eating',
- Room = 'http://ias.cs.tum.edu/kb/knowrob.owl#Kitchen' ;
+Room = knowrob:'Kitchen' ;
+Entry = knowrob:'OmicsLocations-10',
+Obj = knowrob:'PhysicalDevice',
+Room = knowrob:'Kitchen' ;
+Entry = knowrob:'OmicsLocations-100',
+Obj = knowrob:'Vegetable-Food',
+Room = knowrob:'Kitchen'
 </code>
 Get the list of Room types:
-<code>
+<code prolog>
- ?- findall(Room, (rdf_has(Entry, rdf:type, knowrob:'OmicsLocations'),
+?- findall(Room, (rdf_has(Entry, rdf:type, knowrob:'OmicsLocations'),
- rdf_has(Entry,knowrob:object,Room)), Rooms),
+                  rdf_has(Entry,knowrob:object,Room)), _Rooms),
- list_to_set(Rooms,RoomSet).
+   list_to_set(_Rooms,RoomSet).
+RoomSet =[knowrob:'Kitchen',
+          knowrob:'OfficeRoom',
+          knowrob:'Hallway',
+          knowrob:'Classroom',
+          knowrob:'ConferenceRoom',
+          knowrob:'RestaurantSpace',
+          knowrob:'LockerRoom',
+          knowrob:'AuditoriumRoom',
+          knowrob:'Laboratory',
+          knowrob:'HospitalRoom'].
 </code>
+The findall may produce duplicate results, which are eliminated by the //list_to_set// predicate. The underscore in the _Rooms variable indicates that the value of this variable is not returned as a result.