Recognizing object function through reasoning about partial shape descriptions and dynamic physical properties

Knowledge about required functionality of an object can be used as an effective representation for a generic object category (e.g. "chair", "cup", or "hammer"). This approach to object representation and recognition has recently become an active area of research. We exp...

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Bibliographic Details
Published in:Proceedings of the IEEE 1996-11, Vol.84 (11), p.1640-1656
Main Authors: Stark, L., Bowyer, K., Hoover, A., Goldgof, D.B.
Format: Article
Language:English
Subjects:
Conferences
Engine cylinders
Humans
Machine vision
Postal services
Prototypes
Robot sensing systems
Shape
Solid modeling
Tree graphs
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Summary:Knowledge about required functionality of an object can be used as an effective representation for a generic object category (e.g. "chair", "cup", or "hammer"). This approach to object representation and recognition has recently become an active area of research. We explore a scenario in which a robot senses the environment to obtain an initial partial shape model of an object. If the information in this initial model is not sufficient to hypothesize a possible function for the object, then additional view(s) may be suggested. Once a possible function is hypothesized, a plan is formulated for interacting with the object to confirm that its material properties are compatible with the hypothesized function. The module for reasoning about partial shape models has been evaluated on over 200 shape models acquired from range images. The module for carrying out a function verification plan has been evaluated in a simulated environment using the ThingWorld (TW) system.
ISSN:0018-9219
1558-2256
DOI:10.1109/5.542413