DUPLOG: Probabilistic logical interpretation of Duplo assemblies from 3D Vision
S. Van de Leemput, Martijn van Otterlo · Research Repository (Delft University of Technology) · 2013
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. We present DUPLOG, 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. We show that our system is efficient and effective in the interpretation of arbitrary Duplo buildings.