SRI-Graph: A Novel Scene-Robot Interaction Graph for Robust Scene Understanding

We propose a novel scene-robot interaction graph (SRI-Graph) that exploits the known position of a mobile manipulator for robust and accurate scene understanding. Compared to the state-of-the-art scene graph approaches, the proposed SRI-Graph captures not only the relationships between the objects, but also the relationships between the robot manipulator and objects with which it interacts. To improve the detection accuracy of spatial relationships, we leverage the 3D position of the mobile manipulator in addition to RGB images. The manipulator's ego information is crucial for a successful scene understanding when the relationships are visually uncertain. The proposed model is validated for a real-world 3D robot-assisted feeding task. We release a new dataset named 3DRF-Pos for training and validation. We also develop a tool, named LabelImg-Rel, as an extension of the open-sourced image annotation tool LabelImg for a convenient annotation in robot-environment interaction scenarios∗. Our experimental results using the Movo platform show that SRI-Graph outperforms the state-of-the-art approach and improves detection accuracy by up to 9.83%.