Object Recognition Using Constraints from Primitive Shape Matching

Cognitive Engine for Robot-assisted Radio-Frequency Ablation System

“…"Roboearth" robotic system is a typical service robotic system [2], capable of supervising multiple service robots at the same time. For individual service robots, they are capable of performing basic service tasks individually through fixed operating commands.…”

“…Therefore, their professional medical knowledge and surgical experience could be recorded manually or automatically in the knowledge database. Due to the usage of ontology, the knowledge base can be hosted with online servers which is extremely helpful for knowledge sharing [2] [29].…”

“…Comparing the "Roboearth" semantic representation [2], which applies repetitive properties to reflect relationships between individual actions, our semantic architecture is (1) established by relationships between main classes and actions and (2) is easily reconstructed, spread and exchanged, because they are linked to the main class, individually, using different properties.…”

“…Recently, semantic approaches have been applied extensively in multiple applications designed to improve the intelligence in communication between operators and robots [1] [2]. Moreover, these robots can take advantage of semantic approaches in catering to different operational circumstances.…”

Data-driven phase extraction for anomaly detection of repetitive human movements

“…Thus, to avoid the time-consuming point-to-point correspondence search, depth data could be modeled implicitly to allow point-to-model distance minimization [123]. For example, a minimal set of primitive shapes is used to model a simple industrial part [124], but for a more complex model, implicit functions such as implicit B-Spline can be employed to provide a richer data representation for a better registration [125]. The signed distance function (SDF) is another representation that implicitly encodes 3D surfaces and can be used directly to de ne a cost function for accurate registration [126].…”