Functional topological relations for qualitative spatial representation
2011 (English)Conference paper (Refereed)
In this paper, a framework is proposed for representing knowledge about 3-D space in terms of the functional support and containment relationships, corresponding approximately to the prepositions ``on'' and ``in''. A perceptual model is presented which allows for appraising these qualitative relations given the geometries of objects; also, an axiomatic system for reasoning with the relations is put forward. We implement the system on a mobile robot and show how it can use uncertain visual input to infer a coherent qualitative evaluation of a scene, in terms of these functional relations.
Place, publisher, year, edition, pages
2011. 130-136 p.
, IEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011
spatial relations, knowledge representation, robotics, qualitative reasoning
IdentifiersURN: urn:nbn:se:kth:diva-38266DOI: 10.1109/ICAR.2011.6088635ScopusID: 2-s2.0-84255162943ISBN: 978-145771158-9OAI: oai:DiVA.org:kth-38266DiVA: diva2:436460
IEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011; Tallinn; Estonia; 20-23 June 2011
FunderEU, FP7, Seventh Framework Programme, CogX
QC 201409152011-08-232011-08-232014-09-15Bibliographically approved