The Combinatorics of Heuristic Search Termination for Object Recognition in Cluttered Environments
IEEE Transactions on Pattern Analysis and Machine Intelligence
Function-based generic recognition for multiple object categories
CVGIP: Image Understanding
Recognition by functional parts
Computer Vision and Image Understanding - Special issue of funtion-based vision
An Experimental Comparison of Range Image Segmentation Algorithms
IEEE Transactions on Pattern Analysis and Machine Intelligence
Curves and Surfaces for Computer-Aided Geometric Design: A Practical Code
Curves and Surfaces for Computer-Aided Geometric Design: A Practical Code
Machine Learning
Learning membership functions in a function-based object recognition system
Journal of Artificial Intelligence Research
Active learning with near misses
AAAI'06 Proceedings of the 21st national conference on Artificial intelligence - Volume 1
A hierarchical concept oriented representation for spatial cognition in mobile robots
50 years of artificial intelligence
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We propose a novel scheme for function-based classification of objects in 3D images. The classification process calls for constructing a generic multi-level hierarchical description of object classes in terms of functional components. Functionality is derived from a large set of geometric attributes and relationships between object parts. Initially, the input range data describing each object instance is segmented, each object part is labeled as one of a few possible primitives, and each group of primitive parts is tagged by a functional symbol. Connections between primitive parts and functional parts at the same level in the hierarchy are labeled as well. Then, the generic multi-level hierarchical description of object classes is built using the functionalities of a number of object instances. During classification, a search through a finite graph using a probabilistic fitness measure is performed to find the best assignment of object parts to the functional structures of each class. An object is assigned to a class providing the highest fitness value. The scheme does not require a-priori knowledge about any class. We tested the proposed scheme on a database of about one thousand different 3D objects. The results show high accuracy in classification.