2024-03-19T02:05:33Zhttps://repositori.uji.es/oai/requestoai:repositori.uji.es:10234/916722023-04-25T14:31:21Zcom_10234_7038com_10234_9com_10234_7036col_10234_8634col_10234_8620
00925njm 22002777a 4500
dc
Falomir, Zoe
author
Museros, Lledó
author
Castelló, Vicente
author
Gonzalez Abril, Luis
author
2013
Patterns of qualitative concepts are extracted from robot sensors in order to describe the shapes, colours, spatial orientations and topology situations of natural landmarks in the robot environment and also the distance to them. Those qualitative patterns are obtained at a low level sensor data processing and without using training on datasets or learning techniques. A qualitative distance integration approach is parametrized and applied to detect glass windows and mirrors. Corners and columns are detected by the laser sensor and described qualitatively as relevant landmarks. Images taken by the robot camera are described qualitatively for completing the description of the objects located in the robot environment.
Experimentation carried out shows that the integration of the information provided enhances the robot perception.
0167-8655
http://hdl.handle.net/10234/91672
http://dx.doi.org/10.1016/j.patrec.2012.08.012
Sensor data integration
Fuzzy logic
Qualitative shape
Qualitative colour
Topology
Qualitative spatial orientation
Qualitative distances and qualitative image descriptions for representing indoor scenes in robotics