A survey of qualitative spatial representations

Representation and reasoning with qualitative spatial relations is an important problem in artificial intelligence and has wide applications in the fields of geographic information system, computer vision, autonomous robot navigation, natural language understanding, spatial databases and so on. The reasons for this interest in using qualitative spatial relations include cognitive comprehensibility, efficiency and computational facility. This paper summarizes progress in qualitative spatial representation by describing key calculi representing different types of spatial relationships. The paper concludes with a discussion of current research and glimpse of future work

Modeling of objects using planar facets in noisy range images

Products designed and manufactured before the advent of Computer Aided Design (CAD) and Computer Aided Manufacturing (CAM) technology have not been documented electronically. To avoid the laborious procedure of redesigning the parts, a reverse engineering approach can be adopted. This approach involves, taking a picture of the object and constructing a solid model from the image data. Range image is a three dimensional image of an object or a scene. This image can be obtained from special cameras, called range image cameras, or can be constructed from the Coordinate Measuring Machine\u27s (CMM) output data. Adaptive Fuzzy c-Elliptotype (AFC) clustering algorithm is used to identify the planar facets in a range image. A modified version of AFC algorithm can handle noisy range images. Unknown number of planar facets can be identified using the Agglomerative clustering approach. The object is reconstructed using segmented image data. The equations of the edge are obtained from the plane intersections. An edge validity criterion is developed to validate the existence of an edge. Vertices are the two extreme points on the edge. A Boundary representation of the object is developed. The information about this object is then passed to a CAD software using Initial Graphics Exchange Specification (IGES)

Representations for Cognitive Vision : a Review of Appearance-Based, Spatio-Temporal, and Graph-Based Approaches

The emerging discipline of cognitive vision requires a proper representation of visual information including spatial and temporal relationships, scenes, events, semantics and context. This review article summarizes existing representational schemes in computer vision which might be useful for cognitive vision, a and discusses promising future research directions. The various approaches are categorized according to appearance-based, spatio-temporal, and graph-based representations for cognitive vision. While the representation of objects has been covered extensively in computer vision research, both from a reconstruction as well as from a recognition point of view, cognitive vision will also require new ideas how to represent scenes. We introduce new concepts for scene representations and discuss how these might be efficiently implemented in future cognitive vision systems

Spatial description-based approach towards integration of biomedical atlases

Biomedical imaging has become ubiquitous in both basic research and the clinical sciences. As technology advances the resulting multitude of imaging modalities has led to a sharp rise in the quantity and quality of such images. Whether for epi- demiological studies, educational uses, clinical monitoring, or translational science purposes, the ability to integrate and compare such image-based data has become in- creasingly critical in the life sciences and eHealth domain. Ontology-based solutions often lack spatial precision. Image processing-based solutions may have di culties when the underlying morphologies are too di erent. This thesis proposes a compro- mise solution which captures location in biomedical images via spatial descriptions. Three approaches of spatial descriptions have been explored. These include: (1) spatial descriptions based on spatial relationships between segmented regions; (2) spatial descriptions based on ducial points and a set of spatial relations; and (3) spatial descriptions based on ducial points and a set of spatial relations, integrated with spatial relations between segmented regions. Evaluation, particularly in the context of mouse gene expression data, a good representative of spatio-temporal bi- ological data, suggests that the spatial description-based solution can provide good spatial precision. This dissertation discusses the need for biomedical image data in- tegration, the shortcomings of existing solutions and proposes new algorithms based on spatial descriptions of anatomical details in the image. Evaluation studies, par- ticularly in the context of gene expression data analysis, were carried out to study the performance of the new algorithms

Geospatial Data Management Research: Progress and Future Directions

Without geospatial data management, today´s challenges in big data applications such as earth observation, geographic information system/building information modeling (GIS/BIM) integration, and 3D/4D city planning cannot be solved. Furthermore, geospatial data management plays a connecting role between data acquisition, data modelling, data visualization, and data analysis. It enables the continuous availability of geospatial data and the replicability of geospatial data analysis. In the first part of this article, five milestones of geospatial data management research are presented that were achieved during the last decade. The first one reflects advancements in BIM/GIS integration at data, process, and application levels. The second milestone presents theoretical progress by introducing topology as a key concept of geospatial data management. In the third milestone, 3D/4D geospatial data management is described as a key concept for city modelling, including subsurface models. Progress in modelling and visualization of massive geospatial features on web platforms is the fourth milestone which includes discrete global grid systems as an alternative geospatial reference framework. The intensive use of geosensor data sources is the fifth milestone which opens the way to parallel data storage platforms supporting data analysis on geosensors. In the second part of this article, five future directions of geospatial data management research are presented that have the potential to become key research fields of geospatial data management in the next decade. Geo-data science will have the task to extract knowledge from unstructured and structured geospatial data and to bridge the gap between modern information technology concepts and the geo-related sciences. Topology is presented as a powerful and general concept to analyze GIS and BIM data structures and spatial relations that will be of great importance in emerging applications such as smart cities and digital twins. Data-streaming libraries and “in-situ” geo-computing on objects executed directly on the sensors will revolutionize geo-information science and bridge geo-computing with geospatial data management. Advanced geospatial data visualization on web platforms will enable the representation of dynamically changing geospatial features or moving objects’ trajectories. Finally, geospatial data management will support big geospatial data analysis, and graph databases are expected to experience a revival on top of parallel and distributed data stores supporting big geospatial data analysis

Spatial ontologies for architectural heritage

Informatics and artificial intelligence have generated new requirements for digital archiving, information, and documentation. Semantic interoperability has become fundamental for the management and sharing of information. The constraints to data interpretation enable both database interoperability, for data and schemas sharing and reuse, and information retrieval in large datasets. Another challenging issue is the exploitation of automated reasoning possibilities. The solution is the use of domain ontologies as a reference for data modelling in information systems. The architectural heritage (AH) domain is considered in this thesis. The documentation in this field, particularly complex and multifaceted, is well-known to be critical for the preservation, knowledge, and promotion of the monuments. For these reasons, digital inventories, also exploiting standards and new semantic technologies, are developed by international organisations (Getty Institute, ONU, European Union). Geometric and geographic information is essential part of a monument. It is composed by a number of aspects (spatial, topological, and mereological relations; accuracy; multi-scale representation; time; etc.). Currently, geomatics permits the obtaining of very accurate and dense 3D models (possibly enriched with textures) and derived products, in both raster and vector format. Many standards were published for the geographic field or in the cultural heritage domain. However, the first ones are limited in the foreseen representation scales (the maximum is achieved by OGC CityGML), and the semantic values do not consider the full semantic richness of AH. The second ones (especially the core ontology CIDOC – CRM, the Conceptual Reference Model of the Documentation Commettee of the International Council of Museums) were employed to document museums’ objects. Even if it was recently extended to standing buildings and a spatial extension was included, the integration of complex 3D models has not yet been achieved. In this thesis, the aspects (especially spatial issues) to consider in the documentation of monuments are analysed. In the light of them, the OGC CityGML is extended for the management of AH complexity. An approach ‘from the landscape to the detail’ is used, for considering the monument in a wider system, which is essential for analysis and reasoning about such complex objects. An implementation test is conducted on a case study, preferring open source applications

A contour tree based spatio-temporal data model for oceanographic applications

To present the spatio/temporal data from oceanographic modeling in GIS has been a challenging task due to the highly dynamic characteristic and complex pattern of variables, in relation to time and space. This dissertation focuses the research on spatio-temporal GIS data model applied to oceanographic model data, especially to homogeneous iso-surface data. The available spatio-temporal data models are carefully reviewed and characteristics in spatial and temporal issues from oceanographic model data are discussed in detail. As an important tool for data modeling, ontology is introduced to categorize oceanographic model data and further set up fundamental software components in the new data model. The proposed data model is based on the concept of contour tree. By adding temporal information to each node and arc of the contour tree, and using multiple contour trees to represent different time steps in the temporal domain, the changes can be stored and tracked by the data model. In order to reduce the data volume and increase the data quality, the new data model integrates spatial and temporal interpolation methods within it. The spatial interpolation calculates the data that fall between neighboring contours at a single time step. The Inverse Distance Weighting (IDW) is applied as the main algorithm and the Minimum Bounding Rectangle (MBR) is used to enhance the spatial interpolation performance. The temporal interpolation calculates the data that are not recorded, which fall between neighboring contour trees for adjacent time steps. The “linear interpolation” algorithm is preferred to the “nearest neighbor’s value” and “spline” interpolation methods, for its modest accuracy and the simple implementation scheme. In order to evaluate the support functions of the new data model, a case study is presented with the motivation to show how this data model supports complicated spatio-temporal queries in forecasting applications. This dissertation also showcases some work in contour tree simplification. A new simplification algorithm is introduced to reduce the data complexity. This algorithm is based on the branch decomposition method and supports temporal information integrated into contour trees. Three types of criteria parameters are introduced to run different simplification methods for various applications

Marine Vessel Inspection as a Novel Field for Service Robotics: A Contribution to Systems, Control Methods and Semantic Perception Algorithms.

This cumulative thesis introduces a novel field for service robotics: the inspection of marine vessels using mobile inspection robots. In this thesis, three scientific contributions are provided and experimentally verified in the field of marine inspection, but are not limited to this type of application. The inspection scenario is merely a golden thread to combine the cumulative scientific results presented in this thesis. The first contribution is an adaptive, proprioceptive control approach for hybrid leg-wheel robots, such as the robot ASGUARD described in this thesis. The robot is able to deal with rough terrain and stairs, due to the control concept introduced in this thesis. The proposed system is a suitable platform to move inside the cargo holds of bulk carriers and to deliver visual data from inside the hold. Additionally, the proposed system also has stair climbing abilities, allowing the system to move between different decks. The robot adapts its gait pattern dynamically based on proprioceptive data received from the joint motors and based on the pitch and tilt angle of the robot's body during locomotion. The second major contribution of the thesis is an independent ship inspection system, consisting of a magnetic wall climbing robot for bulkhead inspection, a particle filter based localization method, and a spatial content management system (SCMS) for spatial inspection data representation and organization. The system described in this work was evaluated in several laboratory experiments and field trials on two different marine vessels in close collaboration with ship surveyors. The third scientific contribution of the thesis is a novel approach to structural classification using semantic perception approaches. By these methods, a structured environment can be semantically annotated, based on the spatial relationships between spatial entities and spatial features. This method was verified in the domain of indoor perception (logistics and household environment), for soil sample classification, and for the classification of the structural parts of a marine vessel. The proposed method allows the description of the structural parts of a cargo hold in order to localize the inspection robot or any detected damage. The algorithms proposed in this thesis are based on unorganized 3D point clouds, generated by a LIDAR within a ship's cargo hold. Two different semantic perception methods are proposed in this thesis. One approach is based on probabilistic constraint networks; the second approach is based on Fuzzy Description Logic and spatial reasoning using a spatial ontology about the environment