2019
DOI: 10.1016/j.robot.2018.12.009
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COSMO: Contextualized scene modeling with Boltzmann Machines

Abstract: Scene modeling is very crucial for robots that need to perceive, reason about and manipulate the objects in their environments. In this paper, we adapt and extend Boltzmann Machines (BMs) for contextualized scene modeling. Although there are many models on the subject, ours is the first to bring together objects, relations, and affordances in a highly-capable generative model. For this end, we introduce a hybrid version of BMs where relations and affordances are incorporated with shared, tri-way connections in… Show more

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Cited by 14 publications
(12 citation statements)
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“…Contextual information in the field of object detection can help to understand and explore object vicinity (i.e., scene-level context) as applied in [4,45], and also provides object-object relationships (i.e., object-level context) as in [9,40]. Moreover, Contextual information has been also studied in different areas, such as object localization [12], image segmentation [22], out-of-context detection [11], image annotation [34], scene modeling [6], image understanding [14] and cognitive robotics [48].…”
Section: B Contextual Informationmentioning
confidence: 99%
See 1 more Smart Citation
“…Contextual information in the field of object detection can help to understand and explore object vicinity (i.e., scene-level context) as applied in [4,45], and also provides object-object relationships (i.e., object-level context) as in [9,40]. Moreover, Contextual information has been also studied in different areas, such as object localization [12], image segmentation [22], out-of-context detection [11], image annotation [34], scene modeling [6], image understanding [14] and cognitive robotics [48].…”
Section: B Contextual Informationmentioning
confidence: 99%
“…In terms of object recognition, it could be defined as cues captured from a scene that presents knowledge about objects locations, size and objectto-object relationships. Due to the importance of contextual information, it has been widely studied [6,12,18,32,37,48].…”
Section: Introductionmentioning
confidence: 99%
“…Mutlu et al [47] presented a comprehensive review on graph feature learning and feature extraction techniques for link prediction. Bozcan and Kalkan [3] introduced COSMO: Contextualized scene modeling with Boltzmann machines.…”
Section: Application Of Srlmentioning
confidence: 99%
“…In recent years, with the rapid development of technologies such as virtual reality and 3D printing, the application of 3D models has become more and more widespread [6][7][8][9]. Traditional three-dimensional scene modeling methods mainly include modeling techniques based on geometric modeling and modeling techniques that use instrumentation to obtain scene depth information [10][11]. The instrument-based modeling technology obtains the depth information of the scene by using laser, infrared and other ranging technologies to realize the three-dimensional modeling of the target object [12].…”
Section: Introductionmentioning
confidence: 99%