Knowledge-based adaptive thresholding from shadows

Author(s)

Santos, Paulo ; Dee, Hannah M. ; Fenelon, Valquiria ; Coelho, H ; Studer, R ; Wooldridge, M

• Document type: Journal article
• Source: ECAI 2010 - 19TH EUROPEAN CONFERENCE ON ARTIFICIAL INTELLIGENCE; v. 215, p. 2-pg., 2010-01-01.

Abstract

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. (AU)

• FAPESP's process: 08/03995-5 - Logprob: probabilistic logic --- foundations and computational applications
• Grantee: Marcelo Finger
• Support Opportunities: Research Projects - Thematic Grants