Object Recognition with Imperfect Perception and Redundant Description

This paper deals with a scene recognition system in a robotics context. The general problem is to match images with a priori de­ scriptions. A typical mission would consist in identifying an object in an installation with a vision system situated at the end of a manip­ ulator and with a human operator provided description, formulated in a pseudo-natural language, and possibly redundant. The orig­ inality of this work comes from the nature of the description, from the special attention given to the management of imprecision and uncertainty in the interpretation process and from the way to assess the description redun­ dancy so as to reinforce the overall matching likelihood.