Título:
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Learning the semantics of object-action relations by observation
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Autor/a:
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Aksoy, Eren Erdal; Abramov, Alexey; Dörr, Johannes; Ning, Kejun; Dellen, Babette; Wörgötter, Florentin
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Otros autores:
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Institut de Robòtica i Informàtica Industrial; Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI |
Abstract:
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Recognizing manipulations performed by a human and the transfer and execution of this by a robot is a difficult problem. We address this in the current study by introducing a novel representation of the relations between objects at decisive time points during a manipulation. Thereby, we encode the essential changes in a visual scenery in a condensed way such that a robot can recognize and learn a manipulation without prior object knowledge. To achieve this we continuously track image segments in the video and construct a dynamic graph sequence. Topological transitions of those graphs occur whenever a spatial relation between some segments has changed in a discontinuous way and these moments are stored in a transition matrix called the semantic event chain (SEC). We demonstrate that these time points are highly descriptive for distinguishing between different manipulations. Employing simple sub-string search algorithms, SECs can be compared and type-similar manipulations can be recognized with high confidence. As the approach is generic, statistical learning can be used to find the archetypal SEC of a given manipulation class. The performance of the algorithm is demonstrated on a set of real videos showing hands manipulating various objects and performing different actions. In experiments with a robotic arm, we show that the SEC can be learned by observing human manipulations, transferred to a new scenario, and then reproduced by the machine. |
Abstract:
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Peer Reviewed |
Materia(s):
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-Àrees temàtiques de la UPC::Enginyeria de la telecomunicació::Processament del senyal::Reconeixement de formes -Àrees temàtiques de la UPC::Informàtica::Automàtica i control -Pattern recognition systems -Automation -automation
pattern recognition -Reconeixement de formes (Informàtica) -Automatització -Classificació INSPEC::Pattern recognition -Classificació INSPEC::Automation |
Derechos:
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Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
Tipo de documento:
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Artículo - Borrador Artículo |
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