This report explains in detail the implemented system containing a robot and a sensor
network that is deployed in a test apartment in an elderly residence area. The report
focuses on the creation and maintenance (anchoring) of the connection between the
semantic information present in the dialog with perceived actual physical objects in the
home. Semantic knowledge about concepts and their correlations are retrieved from online
resources and ontologies, e.g. Word-Net and sensors information are provided by
cameras distributed in the apartment.