DupLog: probalistic logical interpretation of Duplo assemblies from 3D vision
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2013-08-26
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en
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Abstract
Composite real world objects can be logically explained by their components and their relations. Knowing and expressing the logical relations between the components can facilitate 3D object recognition employing semantic information. DupLog is a novel method for 3D model acquisition of Duplo block assemblies from video. It acquires percepts trough a Kinect camera and translates these inputs into a structured representation through octrees and logical constraints. The high-level, declarative (logical) constraints are represented in a probabilistic logic and provide a new principled way for 3D object recognition. The system is efficient and effective in the interpretation of arbitrary Duplo buildings.
Keywords: 3D object recognition, model acquisition, probabilistic logic,
knowledge base, octrees, Kinect, Lego Duplo, Problog
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Faculteit der Sociale Wetenschappen