Learning Membership Functions in a Function-Based Object Recognition
  System
  Functionality-based recognition systems recognize objects at the category
level by reasoning about how well the objects support the expected function.
Such systems naturally associate a ``measure of goodness'' or ``membership
value'' with a recognized object. This measure of goodness is the result of
combining individual measures, or membership values, from potentially many
primitive evaluations of different properties of the object's shape. A
membership function is used to compute the membership value when evaluating a
primitive of a particular physical property of an object. In previous versions
of a recognition system known as Gruff, the membership function for each of the
primitive evaluations was hand-crafted by the system designer. In this paper,
we provide a learning component for the Gruff system, called Omlet, that
automatically learns membership functions given a set of example objects
labeled with their desired category measure. The learning algorithm is
generally applicable to any problem in which low-level membership values are
combined through an and-or tree structure to give a final overall membership
value.
