1 February 1992 Algorithm for the recognition of the usefulness of objects in actions
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Abstract
A main goal of robotics is to impart in machines an ability to intelligently interact with their environments. In this study we present a system (and an implementation of it) which evaluates the compatibility between objects and specific goal oriented action requirements for carrying out hand-actions. The system is an extension in the framework of fuzzy sets and possibility theory of our model of functional recognition of objects. The system operates on a hierarchical description of objects and action requirements which are mapped into a functional compatibility domain. We show that what computations are actually carried out by the algorithm depends on the application. When the system is used for inspection, it probably knows the identity of the object and its task is only to verify whether the object is in a state that allows its use in the prototypical action for which it has been designed. When the system is used for categorization purposes it needs to identify the existence of features compatible with the action requirements and it verifies that features which prevent carrying out the action cannot be identified. This latter case is particularly interesting and computationally challenging since the system is asked to compute the auxiliary, or possible functions of an object in addition to the prototypical function. The computation of the auxiliary functions relies on the description of the object's parts and subparts.
© (1992) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Marie-Christine Jaulent, Marie-Christine Jaulent, Lucia M. Vaina, Lucia M. Vaina, } "Algorithm for the recognition of the usefulness of objects in actions", Proc. SPIE 1607, Intelligent Robots and Computer Vision X: Algorithms and Techniques, (1 February 1992); doi: 10.1117/12.57085; https://doi.org/10.1117/12.57085
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