Knowledge-based adaptive thresholding from shadows
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2010-08-17
Autores
Paulo Santos
DEE, H. M.
FENELON, V.
DEE, H. M.
FENELON, V.
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Frontiers in Artificial Intelligence and Applications
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SANTOS, P.; DEE, H. M.; FENELON, V. Knowledge-based adaptive thresholding from shadows. Frontiers in Artificial Intelligence and Applications, v. 215, p. 1089-1090, Aug. 2010.
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This paper presents results of a mobile robot qualitative self-localisation experiment using information from cast shadows. 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, given a shadow-based map defined upon a qualitative spatial reasoning theory. To the best of our knowledge this is the first work that uses qualitative spatial representations both to perform egolocation and to calibrate a robot's interpretation of its perceptual input. © 2010 The authors and IOS Press. All rights reserved.