Qualitative navigation for mobile robots
Artificial Intelligence
Spatial Reasoning About Points in a Multidimensional Setting
Applied Intelligence
Multi-Dimensional Modal Logic as a Framework for Spatio-Temporal Reasoning
Applied Intelligence
Reasoning About Distance Based on Fuzzy Sets
Applied Intelligence
Detecting Moving Shadows: Algorithms and Evaluation
IEEE Transactions on Pattern Analysis and Machine Intelligence
Cast shadow segmentation using invariant color features
Computer Vision and Image Understanding
A Shadow Based Method for Image to Model Registration
CVPRW '04 Proceedings of the 2004 Conference on Computer Vision and Pattern Recognition Workshop (CVPRW'04) Volume 11 - Volume 11
A Dynamic Hidden Markov Random Field Model for Foreground and Shadow Segmentation
WACV-MOTION '05 Proceedings of the Seventh IEEE Workshops on Application of Computer Vision (WACV/MOTION'05) - Volume 1 - Volume 01
Shadow Flow: A Recursive Method to Learn Moving Cast Shadows
ICCV '05 Proceedings of the Tenth IEEE International Conference on Computer Vision (ICCV'05) Volume 1 - Volume 01
Adaptive Tracking Control for Robots with Unknown Kinematic and Dynamic Properties
International Journal of Robotics Research
Vertical Parallax from Moving Shadows
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 2
Journal of Cognitive Neuroscience
Camera calibration and light source orientation from solar shadows
Computer Vision and Image Understanding
Learning and Removing Cast Shadows through a Multidistribution Approach
IEEE Transactions on Pattern Analysis and Machine Intelligence
From images to bodies: modelling and exploiting spatial occlusion and motion parallax
IJCAI'01 Proceedings of the 17th international joint conference on Artificial intelligence - Volume 1
Qualitative robot localisation using information from cast shadows
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
In-pipe robot navigation based on the landmark recognition system using shadow images
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
A qualitative approach to localization and navigation based on visibility information
COSIT'09 Proceedings of the 9th international conference on Spatial information theory
The Logic of Time: A Model-Theoretic Investigation into the Varieties of Temporal Ontology and Temporal Discourse
Detection of moving cast shadows for object segmentation
IEEE Transactions on Multimedia
Autonomous navigation system using Event Driven-Fuzzy Cognitive Maps
Applied Intelligence
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This paper describes a logic-based formalism for qualitative spatial reasoning with cast shadows (Perceptual Qualitative Relations on Shadows, or PQRS) and presents results of a mobile robot qualitative self-localisation experiment using this formalism. Shadow detection was accomplished by mapping the images from the robot's monocular colour camera into a HSV colour space and then thresholding on the V dimension. 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, based upon a qualitative spatial reasoning theory about shadows. This theory-driven threshold search and the qualitative self-localisation procedure are the main contributions of the present research. To the best of our knowledge this is the first work that uses qualitative spatial representations both to perform robot self-localisation and to calibrate a robot's interpretation of its perceptual input.