Recognizing object function through reasoning about partial shape descriptions and dynamic physical properties
Recognizing object function through reasoning about partial shape descriptions and dynamic physical properties
复制标题
通过推理部分形状描述和动态物理属性来识别物体功能
DOI：
10.1109/5.542413
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发表时间：
1996
期刊：
影响因子：
--
通讯作者：
Dmitry Goldgof
中科院分区：
文献类型：
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作者：
L. Stark;K. Bowyer;A. Hoover;Dmitry Goldgof
关于对象所需功能的知识可以用作通用对象类别（例如“椅子”、“杯子”或“锤子”）的有效表示。这种对象表示和识别的方法最近已成为一个活跃的研究领域。我们探索了一个场景，其中机器人感知环境以获得物体的初始部分形状模型。如果该初始模型中的信息不足以假设该对象的可能功能，则可以建议附加视图。一旦假设了可能的功能，就会制定与物体交互的计划，以确认其材料属性与假设的功能兼容。用于推理部分形状模型的模块已在从范围图像获取的 200 多个形状模型上进行了评估。用于执行功能验证计划的模块已使用 ThingWorld (TW) 系统在模拟环境中进行了评估。
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.