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Learning Grasping Affordance Using Probabilistic and Ontological Approaches
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0003-2965-2953
2009 (English)In: 2009 International Conference on Advanced Robotics, ICAR 2009, IEEE , 2009, 96-101 p.Conference paper, Published paper (Refereed)
Abstract [en]

We present two approaches to modeling affordance relations between objects, actions and effects. The first approach we present focuses on a probabilistic approach which uses a voting function to learn which objects afford which types of grasps. We compare the success rate of this approach to a second approach which uses an ontological reasoning engine for learning affordances. Our second approach employs a rule-based system with axioms to reason on grasp selection for a given object.

Place, publisher, year, edition, pages
IEEE , 2009. 96-101 p.
Keyword [en]
Affordances, Ontological approach, Ontological reasoning, Probabilistic approaches, Rule based system, Ontology
National Category
Computer and Information Science
Identifiers
URN: urn:nbn:se:kth:diva-30419ISI: 000270815500016Scopus ID: 2-s2.0-70449371324ISBN: 978-1-4244-4855-5 (print)OAI: oai:DiVA.org:kth-30419DiVA: diva2:400824
Conference
2009 International Conference on Advanced Robotics, ICAR 2009; Munich; Germany; 22 June 2009 through 26 June 2009
Note

QC 20110228

Available from: 2011-02-28 Created: 2011-02-24 Last updated: 2014-10-09Bibliographically approved

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Kragic, Danica

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