Where Can I Do This? Geometric Affordances from a Single Example with the Interaction Tensor

Eduardo Ruiz Libreros, Walterio Mayol-Cuevas

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

2 Citations (Scopus)
321 Downloads (Pure)

Abstract

This paper introduces and evaluates a new tensor field representation to express the geometric affordance of one object relative to another, a key competence for Cognitive and Autonomous robots. We expand the bisector surface representation to one that is weight-driven and that retains the provenance of surface points with directional vectors. We also incorporate the notion of affordance keypoints which allow for faster decisions at a point of query and with a compact and straightforward descriptor. Using a single interaction example, we are able to generalize to previously-unseen scenarios; both synthetic and also real scenes captured with RGB-D sensors. Evaluations also include crowdsourcing comparisons that confirm the validity of our affordance proposals, which agree on average 84 % of the time with human judgments, that is 20-40 % better than the baseline methods.
Original languageEnglish
Title of host publication2018 IEEE International Conference on Robotics and Automation (ICRA 2018)
Subtitle of host publicationProceedings of a meeting held 21-25 May 2018, Brisbane, Australia.
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages2192-2199
Number of pages8
ISBN (Electronic)9781538630815
ISBN (Print)9781538630822
DOIs
Publication statusPublished - Nov 2018
Event2018 IEEE International Conference on Robotics and Automation (ICRA) - Brisbane, Australia
Duration: 21 May 201825 May 2018

Publication series

NameInternational Conference on Robotics and Automation
PublisherIEEE
ISSN (Print)1050-4729

Conference

Conference2018 IEEE International Conference on Robotics and Automation (ICRA)
Abbreviated titleICRA
CountryAustralia
CityBrisbane
Period21/05/1825/05/18

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