From Surfaces To Objects
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Semantic 3D Object Maps for Everyday Robot Manipulation
The book written by Dr. Radu B. Rusu presents a detailed description of 3D Semantic Mapping in the context of mobile robot manipulation. As autonomous robotic platforms get more sophisticated manipulation capabilities, they also need more expressive and comprehensive environment models that include the objects present in the world, together with their position, form, and other semantic aspects, as well as interpretations of these objects with respect to the robot tasks. The book proposes novel 3D feature representations called Point Feature Histograms (PFH), as well as a frameworks for the acquisition and processing of Semantic 3D Object Maps with contributions to robust registration, fast segmentation into regions, and reliable object detection, categorization, and reconstruction. These contributions have been fully implemented and empirically evaluated on different robotic systems, and have been the original kernel to the widely successful open-source project the Point Cloud Library (PCL) -- see http://pointclouds.org.
How Humans Recognize Objects: Segmentation, Categorization and Individual Identification
Human beings experience a world of objects: bounded entities that occupy space and persist through time. Our actions are directed toward objects, and our language describes objects. We categorize objects into kinds that have different typical properties and behaviors. We regard some kinds of objects – each other, for example – as animate agents capable of independent experience and action, while we regard other kinds of objects as inert. We re-identify objects, immediately and without conscious deliberation, after days or even years of non-observation, and often following changes in the features, locations, or contexts of the objects being re-identified. Comparative, developmental and adult observations using a variety of approaches and methods have yielded a detailed understanding of object detection and recognition by the visual system and an advancing understanding of haptic and auditory information processing. Many fundamental questions, however, remain unanswered. What, for example, physically constitutes an “object”? How do specific, classically-characterizable object boundaries emerge from the physical dynamics described by quantum theory, and can this emergence process be described independently of any assumptions regarding the perceptual capabilities of observers? How are visual motion and feature information combined to create object information? How are the object trajectories that indicate persistence to human observers implemented, and how are these trajectory representations bound to feature representations? How, for example, are point-light walkers recognized as single objects? How are conflicts between trajectory-driven and feature-driven identifications of objects resolved, for example in multiple-object tracking situations? Are there separate “what” and “where” processing streams for haptic and auditory perception? Are there haptic and/or auditory equivalents of the visual object file? Are there equivalents of the visual object token? How are object-identification conflicts between different perceptual systems resolved? Is the common assumption that “persistent object” is a fundamental innate category justified? How does the ability to identify and categorize objects relate to the ability to name and describe them using language? How are features that an individual object had in the past but does not have currently represented? How are categorical constraints on how objects move or act represented, and how do such constraints influence categorization and the re-identification of individuals? How do human beings re-identify objects, including each other, as persistent individuals across changes in location, context and features, even after gaps in observation lasting months or years? How do human capabilities for object categorization and re-identification over time relate to those of other species, and how do human infants develop these capabilities? What can modeling approaches such as cognitive robotics tell us about the answers to these questions? Primary research reports, reviews, and hypothesis and theory papers addressing questions relevant to the understanding of perceptual object segmentation, categorization and individual identification at any scale and from any experimental or modeling perspective are solicited for this Research Topic. Papers that review particular sets of issues from multiple disciplinary perspectives or that advance integrative hypotheses or models that take data from multiple experimental approaches into account are especially encouraged.
Speech-Language Pathology Assistants
Author: Jennifer A. Ostergren
language: en
Publisher: Plural Publishing
Release Date: 2022-12-29
The third edition of the bestselling Speech-Language Pathology Assistants: A Resource Manual is an essential, practical, and easy-to-use resource for SLPAs and SLPA educators and their students. The text defines the roles of SLPAs and their supervisors—offering additional insight into the scope of practice of an SLPA per current American Speech-Language-Hearing Association (ASHA) recommendations—and includes discussions, strategies, and examples of real-world issues, such as using augmentative and alternative communication (AAC) and working with individuals with autism spectrum disorder (ASD). Also included within the chapters are important factors and modifications that can enhance the effectiveness of treatment activities. For example, using behavioral principles and incorporating play, literacy, and speech sound remediation into treatment or modifying the clinical interface to enhance group therapy dynamics for children and adults. Initial chapters are devoted to specific aspects of an SLPA’s development, such as chapters on ways SLPAs can enhance clinical service through understanding of goals, lesson plans, data collection, and note-writing. Likewise, chapters on professional practice offer insight into ethical problem-solving, presenting a professional image, developing mentoring relationships, working with culturally and linguistically diverse populations, and the use of self-reflection for self-improvement. These chapters are followed by key principles for SLPAs to incorporate in clinical services provided to specific populations and disorders. New to the Third Edition: * Updated ASHA documents throughout, including references to the new ASHA Speech-Language Pathology Assistant Scope of Practice (2022) and Speech-Language Pathology Code of Conduct (2020) * New co-author, Margaret Vento-Wilson, brings years of experience in both professional and academic settings and adds a fresh perspective throughout * Significant updates to Chapter 11 on using behavioral principles * New contributing authors bringing relevant updates in the field of speech-language pathology Speech-Language Pathology Assistants: A Resource Manual, Third Edition is a key resource for enhancing skills and highlighting professional practice issues, for clinical practicum training or future employment. This is a text both SLPAs and SLPA educators will want to have on their bookshelves.