Memory Organization for Invariant Object Recognition and Categorization

Using distributed representations of objects enables artificial systems to be more versatile regarding inter- and intra-category variability, improving the appearance-based modeling of visual object understanding. They are built on the hypothesis that object models are structured dynamically using relatively invariant patches of information arranged in visual dictionaries, which can be shared across objects from the same category. However, implementing distributed representations efficiently to support the complexity of invariant object recognition and categorization remains a research problem of outstanding significance for the biological, the psychological, and the computational approach to understanding visual perception. The present work focuses on solutions driven by top-down object knowledge. It is motivated by the idea that, equipped with sensors and processing mechanisms from the neural pathways serving visual perception, biological systems are able to define efficient measures of similarities between properties observed in objects and use these relationships to form natural clusters of object parts that share equivalent ones. Based on the comparison of stimulus-response signatures from these object-to-memory mappings, biological systems are able to identify objects and their kinds. The present work combines biologically inspired mathematical models to develop memory frameworks for artificial systems, where these invariant patches are represented with regular-shaped graphs, whose nodes are labeled with elementary features that capture texture information from object images. It also applies unsupervised clustering techniques to these graph image features to corroborate the existence of natural clusters within their data distribution and determine their composition. The properties of such computational theory include self-organization and intelligent matching of these graph image features based on the similarity and co-occurrence of their captured texture information. The performance to model invariant object recognition and categorization of feature-based artificial systems equipped with each of the developed memory frameworks is validated applying standard methodologies to well-known image libraries found in literature. Additionally, these artificial systems are cross-compared with state-of-the-art alternative solutions. In conclusion, the findings of the present work convey implications for strategies and experimental paradigms to analyze human object memory as well as technical applications for robotics and computer vision

Semantic Robot Programming for Goal-Directed Manipulation in Cluttered Scenes

We present the Semantic Robot Programming (SRP) paradigm as a convergence of robot programming by demonstration and semantic mapping. In SRP, a user can directly program a robot manipulator by demonstrating a snapshot of their intended goal scene in workspace. The robot then parses this goal as a scene graph comprised of object poses and inter-object relations, assuming known object geometries. Task and motion planning is then used to realize the user's goal from an arbitrary initial scene configuration. Even when faced with different initial scene configurations, SRP enables the robot to seamlessly adapt to reach the user's demonstrated goal. For scene perception, we propose the Discriminatively-Informed Generative Estimation of Scenes and Transforms (DIGEST) method to infer the initial and goal states of the world from RGBD images. The efficacy of SRP with DIGEST perception is demonstrated for the task of tray-setting with a Michigan Progress Fetch robot. Scene perception and task execution are evaluated with a public household occlusion dataset and our cluttered scene dataset.Comment: published in ICRA 201

Enterprise model verification and validation : an approach

This article presents a verification and validation approach which is used here in order to complete the classical tool box the industrial user may utilize in enterprise modeling and integration domain. This approach, which has been defined independently from any application domain is based on several formal concepts and tools presented in this paper. These concepts are property concepts, property reference matrix, properties graphs, enterprise modeling domain ontology, conceptual graphs and formal reasoning mechanisms

A review of user interface adaption in current semantic web browsers

The semantic web is an example of an innumerable corpus because it contains innumerable subjects expressed using innumerable ontologies. This paper reviews current semantic web browsers to see if they can adaptively show meaningful data presentations to users. The paper also seeks to discover if current semantic web browsers provide a rich enough set of capabilities for future user interface work to be built upon

Efficient Constellation-Based Map-Merging for Semantic SLAM

Data association in SLAM is fundamentally challenging, and handling ambiguity well is crucial to achieve robust operation in real-world environments. When ambiguous measurements arise, conservatism often mandates that the measurement is discarded or a new landmark is initialized rather than risking an incorrect association. To address the inevitable `duplicate' landmarks that arise, we present an efficient map-merging framework to detect duplicate constellations of landmarks, providing a high-confidence loop-closure mechanism well-suited for object-level SLAM. This approach uses an incrementally-computable approximation of landmark uncertainty that only depends on local information in the SLAM graph, avoiding expensive recovery of the full system covariance matrix. This enables a search based on geometric consistency (GC) (rather than full joint compatibility (JC)) that inexpensively reduces the search space to a handful of `best' hypotheses. Furthermore, we reformulate the commonly-used interpretation tree to allow for more efficient integration of clique-based pairwise compatibility, accelerating the branch-and-bound max-cardinality search. Our method is demonstrated to match the performance of full JC methods at significantly-reduced computational cost, facilitating robust object-based loop-closure over large SLAM problems.Comment: Accepted to IEEE International Conference on Robotics and Automation (ICRA) 201