On the relative complexity of active vs. passive visual search
International Journal of Computer Vision
Using intermediate objects to improve the efficiency of visual search
International Journal of Computer Vision - Special issue on active vision II
Basic meanings of spatial relations: computation and evaluation in 3D space
AAAI'94 Proceedings of the twelfth national conference on Artificial intelligence (vol. 2)
Multidimensional binary search trees used for associative searching
Communications of the ACM
Language and Spatial Cognition
Language and Spatial Cognition
Polynomial reducibilities and complete sets.
Polynomial reducibilities and complete sets.
Perceptual strategies for purposive vision.
Perceptual strategies for purposive vision.
Sensor planning for object search
Sensor planning for object search
Qualitative Spatial Representation and Reasoning: An Overview
Fundamenta Informaticae - Qualitative Spatial Reasoning
Curious George: An attentive semantic robot
Robotics and Autonomous Systems
Grounding the lexical semantics of verbs in visual perception using force dynamics and event logic
Journal of Artificial Intelligence Research
Combining search and action for mobile robots
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Active multi-view object search on a humanoid head
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Visual search for an object in a 3D environment using a mobile robot
Computer Vision and Image Understanding
Blocks world revisited: image understanding using qualitative geometry and mechanics
ECCV'10 Proceedings of the 11th European conference on Computer vision: Part IV
A probabilistic framework for object search with 6-DOF pose estimation
International Journal of Robotics Research
The M-Space Feature Representation for SLAM
IEEE Transactions on Robotics
Active 3D Object Localization Using a Humanoid Robot
IEEE Transactions on Robotics
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If robots are to assume their long anticipated place by humanity's side and be of help to us in our partially structured environments, we believe that adopting human-like cognitive patterns will be valuable. Such environments are the products of human preferences, activity and thought; they are imbued with semantic meaning. In this paper we investigate qualitative spatial relations with the aim of both perceiving those semantics, and of using semantics to perceive. More specifically, in this paper we introduce general perceptual measures for two common topological spatial relations, ''on'' and ''in'', that allow a robot to evaluate object configurations, possible or actual, in terms of those relations. We also show how these spatial relations can be used as a way of guiding visual object search. We do this by providing a principled approach for indirect search in which the robot can make use of known or assumed spatial relations between objects, significantly increasing the efficiency of search by first looking for an intermediate object that is easier to find. We explain our design, implementation and experimental setup and provide extensive experimental results to back up our thesis.