Using Qualitative Spatial Relations for indirect object search

Lars Kunze; Keerthi Kumar Doreswamy; Nick Hawes

doi:10.1109/ICRA.2014.6906604

Using Qualitative Spatial Relations for indirect object search

Lars Kunze, Keerthi Kumar Doreswamy, Nick Hawes

Computer Science

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

32 Citations (Scopus)

Abstract

Finding objects in human environments requires autonomous mobile robots to reason about potential object locations and to plan to perceive them accordingly. By using information about the 3D structure of the environment, knowledge about landmark objects and their spatial relationship to the sought object, search can be improved by directing the robot towards the most likely object locations. In this paper we have designed, implemented and evaluated an approach for searching for objects on the basis of Qualitative Spatial Relations (QSRs) such as left-of and in-front-of. On the basis of QSRs between landmarks and the sought object we generate metric poses of potential object locations using an extended version of the ternary point calculus and employ this information for view planning. Preliminary results show that search methods based on QSRs are faster and more reliable than methods not considering them.

Original language	English
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	163-168
Number of pages	6
DOIs	https://doi.org/10.1109/ICRA.2014.6906604
Publication status	Published - 22 Sept 2014
Event	2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China Duration: 31 May 2014 → 7 Jun 2014

Conference

Conference	2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Country/Territory	China
City	Hong Kong
Period	31/05/14 → 7/06/14

ASJC Scopus subject areas

Software
Artificial Intelligence
Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/ICRA.2014.6906604

Cite this

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title = "Using Qualitative Spatial Relations for indirect object search",

abstract = "Finding objects in human environments requires autonomous mobile robots to reason about potential object locations and to plan to perceive them accordingly. By using information about the 3D structure of the environment, knowledge about landmark objects and their spatial relationship to the sought object, search can be improved by directing the robot towards the most likely object locations. In this paper we have designed, implemented and evaluated an approach for searching for objects on the basis of Qualitative Spatial Relations (QSRs) such as left-of and in-front-of. On the basis of QSRs between landmarks and the sought object we generate metric poses of potential object locations using an extended version of the ternary point calculus and employ this information for view planning. Preliminary results show that search methods based on QSRs are faster and more reliable than methods not considering them.",

author = "Lars Kunze and Doreswamy, {Keerthi Kumar} and Nick Hawes",

year = "2014",

month = sep,

day = "22",

doi = "10.1109/ICRA.2014.6906604",

language = "English",

pages = "163--168",

booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",

publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

note = "2014 IEEE International Conference on Robotics and Automation, ICRA 2014 ; Conference date: 31-05-2014 Through 07-06-2014",

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Kunze, L, Doreswamy, KK & Hawes, N 2014, Using Qualitative Spatial Relations for indirect object search. in Proceedings - IEEE International Conference on Robotics and Automation., 6906604, Institute of Electrical and Electronics Engineers (IEEE), pp. 163-168, 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, 31/05/14. https://doi.org/10.1109/ICRA.2014.6906604

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AU - Hawes, Nick

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N2 - Finding objects in human environments requires autonomous mobile robots to reason about potential object locations and to plan to perceive them accordingly. By using information about the 3D structure of the environment, knowledge about landmark objects and their spatial relationship to the sought object, search can be improved by directing the robot towards the most likely object locations. In this paper we have designed, implemented and evaluated an approach for searching for objects on the basis of Qualitative Spatial Relations (QSRs) such as left-of and in-front-of. On the basis of QSRs between landmarks and the sought object we generate metric poses of potential object locations using an extended version of the ternary point calculus and employ this information for view planning. Preliminary results show that search methods based on QSRs are faster and more reliable than methods not considering them.

AB - Finding objects in human environments requires autonomous mobile robots to reason about potential object locations and to plan to perceive them accordingly. By using information about the 3D structure of the environment, knowledge about landmark objects and their spatial relationship to the sought object, search can be improved by directing the robot towards the most likely object locations. In this paper we have designed, implemented and evaluated an approach for searching for objects on the basis of Qualitative Spatial Relations (QSRs) such as left-of and in-front-of. On the basis of QSRs between landmarks and the sought object we generate metric poses of potential object locations using an extended version of the ternary point calculus and employ this information for view planning. Preliminary results show that search methods based on QSRs are faster and more reliable than methods not considering them.

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PB - Institute of Electrical and Electronics Engineers (IEEE)

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Using Qualitative Spatial Relations for indirect object search

Abstract

Conference

ASJC Scopus subject areas

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