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Functional topological relations for qualitative spatial representation
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0002-1396-0102
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0002-1170-7162
2011 (English)Conference paper, Published paper (Refereed)
Abstract [en]

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.
Series
IEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011
Keyword [en]
spatial relations, knowledge representation, robotics, qualitative reasoning
National Category
Computer Science
Identifiers
URN: urn:nbn:se:kth:diva-38266DOI: 10.1109/ICAR.2011.6088635Scopus ID: 2-s2.0-84255162943ISBN: 978-145771158-9 (print)OAI: oai:DiVA.org:kth-38266DiVA: diva2:436460
Conference
IEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011; Tallinn; Estonia; 20-23 June 2011
Projects
CogX
Funder
EU, FP7, Seventh Framework Programme, CogX
Note

QC 20140915

Available from: 2011-08-23 Created: 2011-08-23 Last updated: 2014-09-15Bibliographically approved

Open Access in DiVA

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Publisher's full textScopusSjoo11FunctionalRelationsForSpatialRepresentation.pdf

Authority records BETA

Andrzej, PronobisJensfelt, Patric

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf