Paulo SantosDEE, H. M.FENELON, V.2022-01-122022-01-122010-08-17SANTOS, P.; DEE, H. M.; FENELON, V. Knowledge-based adaptive thresholding from shadows. Frontiers in Artificial Intelligence and Applications, v. 215, p. 1089-1090, Aug. 2010.0922-6389https://repositorio.fei.edu.br/handle/FEI/4255This 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.Acesso RestritoArtigo de evento10.3233/978-1-60750-606-5-1089