Authors:
Simon Reich
;
Mohamad Aein
and
Florentin Wörgötter
Affiliation:
Georg-August-Universität Göttingen, Germany
Keyword(s):
Action Affordances, Action Ontology, Planning, 3D Geometric Reasoning.
Related
Ontology
Subjects/Areas/Topics:
Active and Robot Vision
;
Applications
;
Applications and Services
;
Computer Vision, Visualization and Computer Graphics
;
Enterprise Information Systems
;
Human and Computer Interaction
;
Human-Computer Interaction
;
Motion, Tracking and Stereo Vision
;
Pattern Recognition
;
Robotics
;
Software Engineering
Abstract:
When looking at an object humans can quickly and efficiently assess which actions are possible given the
scene context. This task remains hard for machines. Here we focus on manipulation actions and in the first
part of this study define an object-action linked ontology for such context dependent affordance analysis.
We break down every action into three hierarchical pre-condition layers starting on top with abstract object
relations (which need to be fulfilled) and in three steps arriving at the movement primitives required to execute
the action. This ontology will then, in the second part of this work, be linked to actual scenes. First the
system looks at the scene and for any selected object suggests some actions. One will be chosen and, we use
now a simple geometrical reasoning scheme by which this action’s movement primitives will be filled with
the specific parameter values, which are then executed by the robot. The viability of this approach will be
demonstrated by analysing s
everal scenes and a large number of manipulations.
(More)