Object-Agnostic Vision Measurement Framework Based on One-Shot Learning and Behavior Tree

Vision measurement is important for intelligent systems to obtain the precise structural and spatial information of objects. Beyond the object-specific vision measurement developed for fixed object type, it is appealing to explore the object-agnostic vision measurement, which can be efficiently reconfigured and adapted to various novel objects. This article proposes a framework to mimic the human's versatile visual measurement behavior: extract a set of contour primitives of interest (CPIs) from an image, then utilize the CPIs to calculate the key geometric information. First, a deep convolutional neural network (CNN) CPieNet+ is proposed under the one-shot learning scheme, aiming to extract the pixel-level object CPI from a raw query image, given an annotated support image. The fine-grained CPI prototypes are formed by sampling multiple points on the feature map of the support image. To leverage the explicit geometric knowledge in the CNN inference, the annotation map is encoded as a shape descriptor to guide the feature channel attention, and the geometric attribute awareness is realized by supervising the model to predict the direction and size of CPI. Second, the measurement behavior tree (BT) is designed to model the hierarchical geometric calculation procedure, which is flexibly configurable for different measurement requirements and is interpretable for nonexpert users. After the execution of the measurement BT, the pixel-level CPIs are converted to the required key geometric data. The effectiveness of the proposed methods is validated by a series of experiments.