Interactive Recognition and Representation of Functionality

Abstract Functionality of an object defines its applicability to a task, In this paper, we introduce a representation for functionality and present a methodology for its recovery. In addition, we introduce force-shape maps as means to integrate and classify the recovered functionality, Since functionality describes an interaction, the representation for an object must include not only its intrinsic (material) but also its functional (how it is used) properties. In order to recover the functionality of an object, we have developed a formalism based on discrete event system theory and on the paradigm of active perception. This formalism allows us to express an investigating task in the form of a finite automaton for controlling and observing the interactions in our task. Our current investigation focuses on manipulatory interactions, and thus far, the functionality of piercing. We envision an expandable system having at its disposal a score of investigative procedures and through them to be able to classify and recognize an object based on its functional attributes.

[1]  Ernest Davis,et al.  Representations of commonsense knowledge , 2014, notThenot Morgan Kaufmann series in representation and reasoning.

[2]  Dimitris N. Metaxas,et al.  Dynamic 3D models with local and global deformations: deformable superquadrics , 1990, [1990] Proceedings Third International Conference on Computer Vision.

[3]  Ioannis A. Kakadiaris,et al.  Active part-decomposition, shape and motion estimation of articulated objects: a physics-based approach , 1994, 1994 Proceedings of IEEE Conference on Computer Vision and Pattern Recognition.

[4]  Azriel Rosenfeld,et al.  Recognition by Functional Parts , 1995, Comput. Vis. Image Underst..

[5]  Marvin Minsky,et al.  A framework for representing knowledge , 1974 .

[6]  P. Ramadge,et al.  Supervisory control of a class of discrete event processes , 1987 .

[7]  Ruzena Bajcsy,et al.  An Active Approach to Characterization and Recognition of Functionality and Functional Properties , 1993 .

[8]  Marcos Salganicoff,et al.  A Robotic System for Learning Visually-Driven Grasp Planning (Dissertation Proposal) , 1992 .

[9]  R. Klatzky,et al.  There's more to touch than meets the eye: The salience of object attributes for haptics with and without vision. , 1987 .

[10]  R. Bajcsy,et al.  Shape recovery and segmentation with deformable part models , 1987 .

[11]  Dmitry B. Goldgof,et al.  Function-based recognition from incomplete knowledge of shape , 1993 .

[12]  Matthew R. Stein,et al.  Behavior-based control for time-delayed teleoperation , 1994 .

[13]  Jack Hodges,et al.  Naive mechanics: a computational model of device use and function in design improvisation , 1992, IEEE Expert.

[14]  Mark R. Cutkosky,et al.  On grasp choice, grasp models, and the design of hands for manufacturing tasks , 1989, IEEE Trans. Robotics Autom..

[15]  Luca Chittaro,et al.  Putting functional knowledge on firmer ground , 1994, Appl. Artif. Intell..

[16]  Ruzena Bajcsy,et al.  Investigating functionality: the case of piercing operation , 1994, Proceedings of 12th International Conference on Pattern Recognition.

[17]  Mario F. M. Campos,et al.  Robotic exploration of material and kinematic properties of objects , 1992 .

[18]  Johan de Kleer,et al.  Causal and Teleological Reasoning In Circuit Recognition , 1979 .

[19]  Michael Brady,et al.  Generating and Generalizing Models of Visual Objects , 1987, Artif. Intell..

[20]  Sharon A. Stansfield,et al.  Knowledge-based robotic grasping , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[21]  Ruzena Bajcsy,et al.  Functionality investigation using a discrete event system approach , 1994, Robotics Auton. Syst..

[22]  S. Balemi,et al.  Supervisory control of a rapid thermal multiprocessor , 1993, IEEE Trans. Autom. Control..

[23]  B. Chandrasekaran,et al.  Functional Representation and Causal Processes , 1994, Adv. Comput..

[24]  James A. Hendler,et al.  A Review of AI Planning Techniques , 1990 .

[25]  W. Eric L. Grimson,et al.  Handey: A robot system that recognizes, plans, and manipulates , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[26]  Ruzena Bajcsy,et al.  Robotic exploration of surfaces and its application to legged locomotion , 1991, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[27]  R. Klatzky,et al.  Hand movements: A window into haptic object recognition , 1987, Cognitive Psychology.

[28]  Dana H. Ballard,et al.  Task frames: Primitives for sensory-motor coordination , 1985, Comput. Vis. Graph. Image Process..

[29]  Kevin W. Bowyer,et al.  Function-based generic recognition for multiple object categories , 1994 .

[30]  Michael Brady,et al.  The Mechanic's Mate , 1984, ECAI.

[31]  Yangsheng Xu.  Compliant wrist design and hybrid position/force control of robot manipulators , 1989 .

[32]  L. Stark,et al.  Dissertation Abstract , 1994, Journal of Cognitive Education and Psychology.

[33]  R. Klatzky,et al.  Haptic classification of common objects: Knowledge-driven exploration , 1990, Cognitive Psychology.

[34]  Tarek M. Sobh.  Active Observer : A Discrete Event Dynamic System Model for Controlling an Observer Under Uncertaint , 1991 .

[35]  David G. Lowe,et al.  Three-Dimensional Object Recognition from Single Two-Dimensional Images , 1987, Artif. Intell..

[36]  Barr,et al.  Superquadrics and Angle-Preserving Transformations , 1981, IEEE Computer Graphics and Applications.

[37]  Allen Newell,et al.  A Model for Functional Reasoning in Design , 1971, IJCAI.

[38]  Joe Jackson,et al.  Knowledge-based prehension: capturing human dexterity , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[39]  Fausto Giunchiglia,et al.  FUR: Understanding functional reasoning , 1989, Int. J. Intell. Syst..

[40]  Rodney A. Brooks,et al.  Symbolic Reasoning Among 3-D Models and 2-D Images , 1981, Artif. Intell..

[41]  Kevin W. Bowyer,et al.  Generic recognition of articulated objects by reasoning about functionality , 1994, ICPR.

[42]  Patrick Henry Winston,et al.  Learning and reasoning by analogy , 1980, CACM.

[43]  Roger C. Schank,et al.  SCRIPTS, PLANS, GOALS, AND UNDERSTANDING , 1988 .