Abstract
This article introduces some optimization mechanisms
focused on environment management, object recognition,
and environment interaction. Although the generality of the
presented system, this work will be focused on its application on
home assistance humanoid robots. For this purpose, a generic
environment formalization procedure for semantic scenery
description is introduced. As the main contribution of this work,
some techniques for a more efficient use of the environment
knowledge are proposed. That way, the application of an areabased
discrimination mechanism will avoid to process large
amounts of data, useless in the current context, improving the
object recognition, and characterizing the available interactions
in the current area. Finally, the formalized description, and the
optimization procedure, will be tested and verified on a specific
home scenario using a humanoid robot
