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Context Dependent Action Affordances and their Execution using an Ontology of Actions and 3D Geometric Reasoning

Topics: Active and Robot Vision; Categorization and Scene Understanding; Cognitive Models for Interpretation, Integration and Control; Event and Human Activity Recognition; Human and Computer Interaction; Vision for Robotics

Authors: Simon Reich ; Mohamad Aein and Florentin Wörgötter

Affiliation: Georg-August-Universität Göttingen, Germany

ISBN: 978-989-758-290-5

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 se veral scenes and a large number of manipulations. (More)

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Paper citation in several formats:
Reich, S.; Aein, M. and Wörgötter, F. (2018). Context Dependent Action Affordances and their Execution using an Ontology of Actions and 3D Geometric Reasoning.In Proceedings of the 13th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 5 VISAPP: VISAPP, ISBN 978-989-758-290-5, pages 218-229. DOI: 10.5220/0006562502180229

@conference{visapp18,
author={Simon Reich. and Mohamad Aein. and Florentin Wörgötter.},
title={Context Dependent Action Affordances and their Execution using an Ontology of Actions and 3D Geometric Reasoning},
booktitle={Proceedings of the 13th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 5 VISAPP: VISAPP,},
year={2018},
pages={218-229},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006562502180229},
isbn={978-989-758-290-5},
}

TY - CONF

JO - Proceedings of the 13th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 5 VISAPP: VISAPP,
TI - Context Dependent Action Affordances and their Execution using an Ontology of Actions and 3D Geometric Reasoning
SN - 978-989-758-290-5
AU - Reich, S.
AU - Aein, M.
AU - Wörgötter, F.
PY - 2018
SP - 218
EP - 229
DO - 10.5220/0006562502180229

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