Spatial reasoning via active observation

This paper presents a model for space in which an autonomous agent acquires information about its environment. The agent uses a predefined exploration strategy to build a map allowing it to navigate and deduce relationships between points in space. The shapes of objects in the environment are represented qualitatively. This shape information is deduced from the agent's motion. Normally, in a qualitative model, directional information degrades under transitive deduction. By reasoning about the shape of the environment, the agent can match visual events to points on the objects. This strengthens the model by allowing further relationships to be deduced. In particular, points that are separated by long distances, or complex surfaces, can be related by line-of-sight. These relationships are deduced without incorporating any metric information into the model. Examples are given to demonstrate the use of the model.

Spatial reasoning by active observation

The problem of deriving spatial relationships between objects in general requires high lever' abstract representation, and it would pose difficulties even for human observer. Based on a formalism for spatial layouts proposed earlier, we present methods for deducing spatial relations between objects by an active, sighted agent in a large-scale environment. The deduction of spatial relations is based on simple visual clues, and thus this technique is more feasible than schemes that rely on complex object recognition.

Reasoning with multimedia information using symbolic projection

In many multimedia application systems, it is not the final goal to retrieve the relevant multimedia information from different multimedia information sources. Rather, post-processing of the retrieved multimedia information is needed. For example, the retrieved information is used as “known facts”. The systems will do some reasoning to obtain further conclusions based on these multimedia form “known facts”. We call this reasoning with multimedia information. Most current research work in multimedia information processing is focused on multimedia information retrieval, but post-processing the retrieved information is more or less ignored. This paper explores the way to tackle this problem by using symbolic projection. A case study of reasoning with still image information is presented. Some extensions to symbolic projection- introducing auxiliary pictorial objects in symbolic pictures that need to be processed-are discussed. We expect this paper will stimulate further research on this important but ignored topic.

Hierarchical representation for spatial knowledge

One of the fundamental issues in building autonomous agents is to be able to sense, represent and react to the world. Some of the earlier work [Mor83, Elf90, AyF89] has aimed towards a reconstructionist approach, where a number of sensors are used to obtain input that is used to construct a model of the world that mirrors the real world. Sensing and sensor fusion was thus an important aspect of such work. Such approaches have had limited success, and some of the main problems were the issues of uncertainty arising from sensor error and errors that accumulated in metric, quantitative models. Recent research has therefore looked at different ways of examining the problems. Instead of attempting to get the most accurate and correct model of the world, these approaches look at qualitative models to represent the world, which maintain relative and significant aspects of the environment rather than all aspects of the world. The relevant aspects of the world that are retained are determined by the task at hand which in turn determines how to sense. That is, task directed or purposive sensing is used to build a qualitative model of the world, which though inaccurate and incomplete is sufficient to solve the problem at hand. This paper examines the issues of building up a hierarchical knowledge representation of the environment with limited sensor input that can be actively acquired by an agent capable of interacting with the environment. Different tasks require different aspects of the environment to be abstracted out. For example, low level tasks such as navigation require aspects of the environment that are related to layout and obstacle placement. For the agent to be able to reposition itself in an environment, significant features of spatial situations and their relative placement need to be kept. For the agent to reason about objects in space, for example to determine the position of one object relative to another, the representation needs to retain information on relative locations of start and finish of the objects, that is endpoints of objects on a grid. For the agent to be able to do high level planning, the agent may need only the relative position of the starting point and destination, and not the low level details of endpoints, visual clues and so on. This indicates that a hierarchical approach would be suitable, such that each level in the hierarchy is at a different level of abstraction, and thus suitable for a different task. At the lowest level, the representation contains low level details of agent's motion and visual clues to allow the agent to navigate and reposition itself. At the next level of abstraction the aspects of the representation allow the agent to perform spatial reasoning, and finally the highest level of abstraction in the representation can be used by the agent for high level planning.

Two-dimensional string notation for representing video sequences

Most current work on video indexing concentrates on queries which operate over high level semantic information which must be entirely composed and entered manually. We propose an indexing system which is based on spatial information about key objects in a scene. These key objects may be detected automatically, with manual supervision, and tracked through a sequence using one of a number of recently developed techniques. This representation is highly compact and allows rapid resolution of queries specified by iconic example. A number of systems have been produced which use 2D string notations to index digital image libraries. Just as 2D strings provide a compact and tractable indexing notation for digital pictures, a sequence of 2D strings might provide an index for a video or image sequence. To improve further upon this we reduce the representation to the 2D string pair representing the initial frame, and a sequence of edits to these strings. This takes advantage of the continuity between frames to further reduce the size of the notation. By representing video sequences using string edits, a notation has been developed which is compact, and allows querying on the spatial relationships of objects to be performed without rebuilding the majority of the scene. Calculating ranks of objects directly from the edit sequence allows matching with minimal calculation, thus greatly reducing search time. This paper presents the edit sequence notation and algorithms for evaluating queries over image sequences. A number of optimizations which represent a considerably saving in search time is demonstrated in the paper.

Deriving ambiguous spatial relations

Qualitative and relational representations of space offer a new and powerful approach to reasoning. This type of approach introduces ambiguity where there would be none in quantitative methodologies. This paper provides mechanisms for coping with ambiguity and gives examples of using these mechanisms for reasoning about space.