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Object Types

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GuiHome edited this page May 29, 2017 · 1 revision

Object Types

At a high level of abstraction, generalization of manipulation actions is possible if object share some common characteristics.

Focusing on shape characteristics, we define the following shape classes:

  • Shape Type 1 : These objects have similar dimensions along all axes, for instance a cube or a ball.
  • Shape Type 2 : These objects have two similar dimensions and one distinct dimension:
    • Shape Type 2a : The singular dimension is the largest, e.g. tall cylinders
    • Shape Type 2b : The singular dimension is the smallest, e.g. fat cylinders
  • Shape Type 3 : These objects have three distinct dimensions.

Focusing on size characteristics, we can exploit the rules for decomposition of object into parts (see ObjectParts ) and define the following size types:

  • Size Type SSS - 1 part
  • Size Type SSM - 2 parts
  • Size Type SSL - 3 parts
  • Size Type SMM - 4 parts
  • Size Type SML - 6 parts
  • Size Type MMM - 8 parts
  • Size Type SLL - 9 parts
  • Size Type MML - 12 parts
  • Size Type MLL - 18 parts
  • Size Type LLL - 26 parts

Putting together the different size types and and the symmetry classes defined in [DefinitionObjectSymmetry] we obtain the following object types (or classes):

In total there are 52 object types.

Provided that bounding-box dimensions are the key features for classification (no orientation disambiguation information available), the following associations between Shape Types and Object Types can be done:

  • Shape Type 1 - Can be a SSS-Cube or MMM-Cube or LLL-Cube
  • Shape Type 2a - Can be a SSM-Chalk or SSL-Chalk or MML-Chalk
  • Shape Type 2b - Can be a SMM-Chalk or SLL-Chalk or MLL-Chalk
  • Shape Type 3 - Can be any ***-Brick
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