Incorporating process knowledge into object recognition for assemblies

In this paper we present an object recognition framework integrating several recognition paradigms and context information from the scene history to recognize elementary parts contained in assemblies. We use a symbolic approach to detect actions based on the object changes in the scene to monitor the construction process. The information about the elements used to construct a new assembly serves as additional source of information for recognition. Process knowledge is exploited also for selecting the best interpretation out of several alternatives for a single scene which result from contradictions and uncertainties during integration of the different cues