Qualitative robot localisation using information from cast shadows

dc.contributor.authorPaulo Santos
dc.contributor.authorDEE, H. M.
dc.contributor.authorFENELON, V.
dc.contributor.authorOrcidhttps://orcid.org/0000-0001-8484-0354
dc.date.accessioned2022-01-12T22:04:34Z
dc.date.available2022-01-12T22:04:34Z
dc.date.issued2009-05-12
dc.description.abstractRecently, cognitive psychologists and others have turned their attention to the formerly neglected study of shadows, and the information they purvey. These studies show that the human perceptual system values information from shadows very highly, particularly in the perception of depth, even to the detriment of other cues. However with a few notable exceptions, computer vision systems have treated shadows not as signal but as noise. This paper makes a step towards redressing this imbalance by considering the formal representation of shadows. We take one particular aspect of reasoning about shadows, developing the idea that shadows carry information about a fragment of the viewpoint of the light source. We start from the observation that the region on which the shadow is cast is occluded by the caster with respect to the light source and build a qualitative theory about shadows using a region-based spatial formalism about occlusion. Using this spatial formalism and a machine vision system we are able to draw simple conclusionsabout domain objects and egolocation for a mobile robot. © 2009 IEEE.
dc.description.firstpage220
dc.description.lastpage225
dc.identifier.citationSANTOS, P.; DEE, H. M.; FENELON, V. Qualitative robot localisation using information from cast shadows. Proceedings - IEEE International Conference on Robotics and Automation, p. 220-225, Nov. 2009.
dc.identifier.doi10.1109/ROBOT.2009.5152199
dc.identifier.issn1050-4729
dc.identifier.urihttps://repositorio.fei.edu.br/handle/FEI/4280
dc.relation.ispartofProceedings - IEEE International Conference on Robotics and Automation
dc.rightsAcesso Restrito
dc.titleQualitative robot localisation using information from cast shadows
dc.typeArtigo de evento
fei.scopus.citations9
fei.scopus.eid2-s2.0-70350362730
fei.scopus.subjectCast shadow
fei.scopus.subjectComputer vision system
fei.scopus.subjectFormal representations
fei.scopus.subjectHuman perceptual system
fei.scopus.subjectMachine vision systems
fei.scopus.subjectRegion-based
fei.scopus.subjectRobot localisation
fei.scopus.updated2024-02-01
fei.scopus.urlhttps://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=70350362730&origin=inward
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