STAM: A Framework for Spatio-Temporal Affordance Maps
نویسندگان
چکیده
Affordances have been introduced in literature as action opportunities that objects offer, and used in robotics to semantically represent their interconnection. However, when considering an environment instead of an object, the problem becomes more complex due to the dynamism of its state. To tackle this issue, we introduce the concept of Spatio-Temporal Affordances (STA) and Spatio-Temporal Affordance Map (STAM). Using this formalism, we encode action semantics related to the environment to improve task execution capabilities of an autonomous robot. We experimentally validate our approach to support the execution of robot tasks by showing that affordances encode accurate semantics of the environment.
منابع مشابه
Assessment of Neonate's Congenital Hypothyroidism Pattern Using Poisson Spatio-temporal Model in Disease Mapping under the Bayesian Paradigm during 2011-18 in Guilan, Iran
Background: Congenital Hypothyroidism (CH) is one of the reasons for mental retardation and defective growth in neonates. It can be treated if it is diagnosed early. The congenital hypothyroidism can be diagnosed using newborn screening in the first days after birth. Disease mapping helps to identify high-risk areas of the disease. This study aimed to evaluate the pattern of CH using the Poisso...
متن کاملSpatio-Temporal Changes of Natural Vegetation Disturbance in the Ahle Iman Watershed, Ardabil Province
The present study aimed to assess the spatio-temporal changes in the natural vegetation cover of Ahl Iman watershed, Ardabil province. For this purpose, land use maps of the three years (2000, 2010, and 2020) were extracted from Landsat satellite images. Then, seven landscape metrics (patch density, edge density, patch richness, splitting index, contagion index, Euclidean nearest neighbor dista...
متن کاملModeling and Spatio-Temporal Analysis of the Distribution of O3 in Tehran City Based on Neural Network and Spatial Analysis in GIS Environment
Air pollution is one of the most problems that people are facing today in metropolitan areas. Suspended particulates, carbon monoxide, sulfur dioxide, ozone and nitrogen dioxide are the five major pollutants of air that pose many problems to human health. The goal of this study is to propose a spatial approach for estimation and analyzing the spatial and temporal distribution of ozone based on ...
متن کاملEvaluation of Tests for Separability and Symmetry of Spatio-temporal Covariance Function
In recent years, some investigations have been carried out to examine the assumptions like stationarity, symmetry and separability of spatio-temporal covariance function which would considerably simplify fitting a valid covariance model to the data by parametric and nonparametric methods. In this article, assuming a Gaussian random field, we consider the likelihood ratio separability test, a va...
متن کاملSpatio-Temporal Parameters' Changes in Gait of Male Elderly Subjects
Objectives: The purpose of this study was to compare spatio-temporal gait parameters between elderly and young male subjects. Methods & Materials: 57 able-bodied elderly (72±5.5 years) and 57 healthy young (25±8.5 years) subjects participated in this study. A four segment model consist of trunk, hip, shank, and foot with 10 reflective markers were used to define lower limbs. Kinematic data c...
متن کامل