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Kadir F. Uyanik
Asil Kaan Bozcuoglu
[1] J. J. Gibson (1977), The Theory of Affordances. In Perceiving, Acting, and Knowing, Eds. Robert Shaw and John Bransford, ISBN 0-470-99014-7.
[2] E. Sahin, M. Cakmak, M.R.Dogar, E. Ugur , G. Ucoluk, To Afford or Not to Afford: A New Formalization of Affordances Toward Affordance-Based Robot
Control, Adaptive Behavior , 2007 pp: 447-472
Inspirations:
Affordances[1]
“… an affordance is neither an objective property nor a subjective property;
or both if you like. An affordance cuts across the dichotomy of subjective-
objective and helps us to understand its inadequacy. It is equally a fact of the
environment and a fact of behavior. It is both physical and psychical, yet
neither. An affordance points both ways, to the environment and to the
observer.”
[1] J. J. Gibson (1977), The Theory of Affordances. In Perceiving, Acting, and Knowing, Eds. Robert Shaw and John Bransford, ISBN 0-470-99014-7.
[2] E. Sahin, M. Cakmak, M.R.Dogar, E. Ugur , G. Ucoluk, To Afford or Not to Afford: A New Formalization of Affordances Toward Affordance-Based Robot
Control, Adaptive Behavior , 2007 pp: 447-472
Inspirations:
Affordances[1]
“… an affordance is neither an objective property nor a subjective property;
or both if you like. An affordance cuts across the dichotomy of subjective-
objective and helps us to understand its inadequacy. It is equally a fact of the
environment and a fact of behavior. It is both physical and psychical, yet
neither. An affordance points both ways, to the environment and to the
observer.”
environment agent
<entity> <behavior>
<effect>
[3] Recognition-by-components: A theory of Human Image Understanding, Psychological Review, Vol. 94 (1987), pp. 115-148
Inspirations:
Human Image Understanding[3]
“There are small number of geometric components
that constitute the primitive elements of the object
recognition system (like letters to form words)”
[3] Recognition-by-components: A theory of Human Image Understanding, Psychological Review, Vol. 94 (1987), pp. 115-148
Potential Difficulties[4]
• Structural description not
enough, also need metric info
[4] M. A. Arbib CS564 – Brain Theory and Artificial Intelligence, USC, Fall 2001, Lecture 7: Object Recognition
Potential Difficulties[4]
• Structural description not
enough, also need metric info
• Difficult to extract geons from
real images
[4] M. A. Arbib CS564 – Brain Theory and Artificial Intelligence, USC, Fall 2001, Lecture 7: Object Recognition
Potential Difficulties[4]
• Structural description not
enough, also need metric info
• Difficult to extract geons from
real images
• Ambiguity in the structural
description: most often we have
several candidates
[4] M. A. Arbib CS564 – Brain Theory and Artificial Intelligence, USC, Fall 2001, Lecture 7: Object Recognition
Potential Difficulties[4]
• Structural description not
enough, also need metric info
• Difficult to extract geons from
real images
• Ambiguity in the structural
description: most often we have
several candidates
• For some objects, deriving a
structural representation can be
difficult
[4] M. A. Arbib CS564 – Brain Theory and Artificial Intelligence, USC, Fall 2001, Lecture 7: Object Recognition
Problem Definition
HOW TO
• decompose objects into parts/components ?
• find relations between components ?
• find a generic graph representation of an
<action-entity-effect> three tuple ?
Object Decomposition
Proposed Algorithm
Object Decomposition
Proposed Algorithm
Object Decomposition
Proposed Algorithm
Object Decomposition
Proposed Algorithm
Object Decomposition
Proposed Algorithm
Object Decomposition
Proposed Algorithm
Object Decomposition
Proposed Algorithm
Object Decomposition
Proposed Algorithm
Object Decomposition
Proposed Algorithm
Object Decomposition
Proposed Algorithm
Object Decomposition
Proposed Algorithm
Object Decomposition
What is missing?
[isIsomorphic, label_list]=
check_Isomorphism(G1, G2)
If isIsomorphic
Check geometric shapes of same labeled nodes
in two graphs
Check direction of equivalent edges in both
graphs
If both are matched, return true
Else return false
Else return false
Graphical Representation
Similarity Checking
[1] J. J. Gibson (1977), The Theory of Affordances. In Perceiving, Acting, and Knowing, Eds. Robert Shaw and
John Bransford, ISBN 0-470-99014-7.
[2] E. Sahin, M. Cakmak, M.R.Dogar, E. Ugur , G. Ucoluk, To Afford or Not to Afford: A New Formalization of
Affordances Toward Affordance-Based Robot Control, Adaptive Behavior , 2007 pp: 447-472
[3] Recognition-by-components: A theory of Human Image Understanding, Psychological Review, Vol. 94
(1987), pp. 115-148
[4] M. A. Arbib CS564 – Brain Theory and Artificial Intelligence, USC, Fall 2001, Lecture 7: Object Recognition
Thanks for listening
Appendix
Human Image Understanding
• Hypothesis: small number of geometric components that constitute
the primitive elements of the object recognition system (like letters to
form words)
• Geons are directly recognized from edges, based on their
nonaccidental properties (i.e., 3D features that are usually preserved
by the projective imaging process).
– edges are straight or curved
– pairs of edges are parallel or non-parallel
– vertices will always appear to be vertices
• Non-accidental properties allows geons to be recognized from any
perspective.
• The information in the geons are redundant so that they can be
recognized even when partially occluded.
Appendix
The Importance of spatial arrangement
Appendix
The Principal of non-accidentalness
Examples:
• Colinearity
• Smoothness
• Symmetry
• Parallelism
• Cotermination
Appendix
Some non-accidental differences