Object-Oriented World Modelling for Autonomous Systems

Technical report


Andrey Belkin


Technical report IES-2009-16. In: Jürgen Beyerer, Marco Huber (eds.), Proceedings of the 2009 Joint Workshop of Fraunhofer IOSB and Institute for Anthropomatics, Vision and Fusion Laboratory, KIT Scientific Publishing, 2009.



Modern autonomous systems are challenged by a necessity of the permanent situation awareness: perception, comprehension, and prediction of the surrounding environment. A basis for such awareness is a reliable world modelling that serves as an efficiently structured memory.

This contribution proposes several new approaches in the world modelling. The Progressive Mapping represents a dynamical description of real world elements with mapping sets of objects and attributes. The prior knowledge about object types and relations is introduced as a collection of semantic networks of classes, while dynamic relations within the world model are represented by semantic networks of objects. Also, current contribution presents a processing of degree-of-belief distributions and a possibility of calculation of memory limits.