EURECA: Enhanced Understanding of Real Environments via Crowd Assistance

摘要

Indoor robots hold the promise of automatically handling mundane daily tasks, helping to improve access for people with disabilities, and providing on-demand access to remote physical environments. Unfortunately, the ability to understand never-before-seen objects in scenes where new items may be added (e.g., purchased) or altered (e.g., damaged) on a regular basis remains an open challenge for robotics. In this paper, we introduce EURECA, a mixed-initiative system that leverages online crowds of human contributors to help robots robustly identify 3D point cloud segments corresponding to user-referenced objects in near real-time. EURECA allows robots to understand multi-object 3D scenes on-the-fly (in ~40 seconds) by providing groups of non-expert crowd workers with intelligent tools that can segment objects more quickly (~70% faster) and more accurately (6% higher F1 score) than individuals. More broadly, EURECA introduces the first real-time crowdsourcing tool that addresses the challenge of learning about new objects in real-world settings, creating a new source of data for training robots online, as well as a platform for studying mixed-initiative crowdsourcing workflows for understanding 3D scenes.