Reasoning about shadows in a mobile robot environment

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dc.contributor.authorFenelon V.
dc.contributor.authorSantos P.E.
dc.contributor.authorDee H.M.
dc.contributor.authorCozman F.G.
dc.date.accessioned2019-08-19T23:45:18Z
dc.date.available2019-08-19T23:45:18Z
dc.date.issued2013
dc.description.abstractThis 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. © 2012 Springer Science+Business Media, LLC.
dc.description.firstpage553
dc.description.issuenumber4
dc.description.lastpage565
dc.description.volume38
dc.identifier.citationFENELON, VALQUIRIA; Santos, Paulo E.; Dee, Hannah M.; COZMAN, FABIO G.. Reasoning about shadows in a mobile robot environment. Applied Intelligence (Boston), v. 38, n. 4, p. 553-565, 2012.
dc.identifier.doi10.1007/s10489-012-0385-5
dc.identifier.issn0924-669X
dc.identifier.urihttps://repositorio.fei.edu.br/handle/FEI/1201
dc.relation.ispartofApplied Intelligence
dc.rightsAcesso Restrito
dc.subject.otherlanguageCognitive robotics
dc.subject.otherlanguageKnowledge representation
dc.subject.otherlanguageQualitative spatial reasoning
dc.titleReasoning about shadows in a mobile robot environment
dc.typeArtigo
fei.scopus.citations8
fei.scopus.eid2-s2.0-84877709031
fei.scopus.subjectCognitive robotics
fei.scopus.subjectHSV colour space
fei.scopus.subjectQualitative relation
fei.scopus.subjectQualitative spatial reasoning
fei.scopus.subjectQualitative spatial representations
fei.scopus.subjectRobot environment
fei.scopus.subjectShadow detections
fei.scopus.subjectThreshold searches
fei.scopus.updated2024-03-04
fei.scopus.urlhttps://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84877709031&origin=inward
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