Reasoning about shadows in a mobile robot environment

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dc.contributor.author Fenelon, Valquiria
dc.contributor.author Santos, Paulo E.
dc.contributor.author Dee, Hannah Mary
dc.contributor.author Cozman, Fabio G.
dc.date.accessioned 2012-11-07T09:39:40Z
dc.date.available 2012-11-07T09:39:40Z
dc.date.issued 2013-06-01
dc.identifier.citation Fenelon , V , Santos , P E , Dee , H M & Cozman , F G 2013 , ' Reasoning about shadows in a mobile robot environment ' Applied Intelligence , vol 38 , no. 4 , pp. 553-565 . , 10.1007/s10489-012-0385-5 en
dc.identifier.issn 0924-669X
dc.identifier.other PURE: 176742
dc.identifier.other dspace: 2160/7903
dc.identifier.uri http://hdl.handle.net/2160/7903
dc.description Fenelon, V., Santos, P. E., Dee, H. M., Cozman, F. G. (2013). Reasoning about shadows in a mobile robot environment. Applied Intelligence, 38 (4), 553-565 en
dc.description.abstract This paper describes a logic-based formalism for qualitative spatial reasoning with cast shadows (Perceptual Qualitative Relations on Shadows, or PQRS) and presents results of a mobile robot qualitative self-localisation experiment using this formalism. Shadow detection was accomplished by mapping the images from the robot’s monocular colour camera into a HSV colour space and then thresholding on the V dimension. We present results of self-localisation using two methods for obtaining the threshold automatically: in one method the images are segmented according to their grey-scale histograms, in the other, the threshold is set according to a prediction about the robot’s location, based upon a qualitative spatial reasoning theory about shadows. This theory-driven threshold search and the qualitative self-localisation procedure are the main contributions of the present research. To the best of our knowledge this is the first work that uses qualitative spatial representations both to perform robot self-localisation and to calibrate a robot’s interpretation of its perceptual input. en
dc.language.iso eng
dc.relation.ispartof Applied Intelligence en
dc.subject Qualitative spatial reasoning en
dc.subject Cognitive robotics en
dc.subject Knowledge representation en
dc.title Reasoning about shadows in a mobile robot environment en
dc.type Text en
dc.type.publicationtype Article (Journal) en
dc.identifier.doi http://dx.doi.org/10.1007/s10489-012-0385-5
dc.contributor.institution Vision, Graphics and Visualisation Group en
dc.contributor.institution Department of Computer Science en
dc.description.status Peer reviewed en


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