Conclusion

Abstract

As autonomous personal robotics systems come to age, they need to find ways of functioning in human living environments, that is, navigating and interacting with the surrounding world in an effective manner. This means a robot should be capable of going anywhere where it can physically fit, find energy sources and recharge its batteries when their capacity is running low, and perform useful chores such as cleaning tables. These behaviors require support from complex perception routines which can recognize power plugs, door handles, and certain structures and objects in the world. Therefore one of the most important aspects deciding on the applicability of personal robotics in real world environments is represented by the robot’s ability to perceive and understand the semantic meanings of the objects present in the world. The key challenge in achieving that is being able to build semantic 3D perception architectures that can enable complex mobile manipulation scenarios.