Show simple item record Fenelon, Valquiria Santos, Paulo E. Dee, Hannah Mary Cozman, Fabio G. 2012-11-07T09:39:40Z 2012-11-07T09:39:40Z 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 . DOI: 10.1007/s10489-012-0385-5 en
dc.identifier.issn 0924-669X
dc.identifier.other PURE: 176742
dc.identifier.other PURE UUID: 9207b740-ccc7-41b2-b918-43681127b7b3
dc.identifier.other dspace: 2160/7903
dc.identifier.other DSpace_20121128.csv: row: 4666
dc.identifier.other Scopus: 84877709031
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.rights 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 /dk/atira/pure/researchoutput/researchoutputtypes/contributiontojournal/article en
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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