Context-based selection and execution of robot perception graphs

@article{Hochgeschwender2015ContextbasedSA,
  title={Context-based selection and execution of robot perception graphs},
  author={Nico Hochgeschwender and Miguel Angel Olivares-M{\'e}ndez and Holger Voos and Gerhard K. Kraetzschmar},
  journal={2015 IEEE 20th Conference on Emerging Technologies \& Factory Automation (ETFA)},
  year={2015},
  pages={1-4}
}
To perform a wide range of tasks service robots need to robustly extract knowledge about the world from the data perceived through the robot's sensors even in the presence of varying context-conditions. This makes the design and development of robot perception architectures a challenging exercise. In this paper we propose a robot perception architecture which enables to select and execute at runtime different perception graphs based on monitored context changes. To achieve this the architecture… 

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