A rigorous definition of axial lines: ridges on isovist fields

We suggest that 'axial lines' defined by (Hillier and Hanson, 1984) as lines of uninterrupted movement within urban streetscapes or buildings, appear as ridges in isovist fields (Benedikt, 1979). These are formed from the maximum diametric lengths of the individual isovists, sometimes called viewsheds, that make up these fields (Batty and Rana, 2004). We present an image processing technique for the identification of lines from ridges, discuss current strengths and weaknesses of the method, and show how it can be implemented easily and effectively.Comment: 18 pages, 5 figure

Footprints of information foragers: Behaviour semantics of visual exploration

Social navigation exploits the knowledge and experience of peer users of information resources. A wide variety of visual–spatial approaches become increasingly popular as a means to optimize information access as well as to foster and sustain a virtual community among geographically distributed users. An information landscape is among the most appealing design options of representing and communicating the essence of distributed information resources to users. A fundamental and challenging issue is how an information landscape can be designed such that it will not only preserve the essence of the underlying information structure, but also accommodate the diversity of individual users. The majority of research in social navigation has been focusing on how to extract useful information from what is in common between users' profiles, their interests and preferences. In this article, we explore the role of modelling sequential behaviour patterns of users in augmenting social navigation in thematic landscapes. In particular, we compare and analyse the trails of individual users in thematic spaces along with their cognitive ability measures. We are interested in whether such trails can provide useful guidance for social navigation if they are embedded in a visual–spatial environment. Furthermore, we are interested in whether such information can help users to learn from each other, for example, from the ones who have been successful in retrieving documents. In this article, we first describe how users' trails in sessions of an experimental study of visual information retrieval can be characterized by Hidden Markov Models. Trails of users with the most successful retrieval performance are used to estimate parameters of such models. Optimal virtual trails generated from the models are visualized and animated as if they were actual trails of individual users in order to highlight behavioural patterns that may foster social navigation. The findings of the research will provide direct input to the design of social navigation systems as well as to enrich theories of social navigation in a wider context. These findings will lead to the further development and consolidation of a tightly coupled paradigm of spatial, semantic and social navigation

Conceptual spatial representations for indoor mobile robots

We present an approach for creating conceptual representations of human-made indoor environments using mobile robots. The concepts refer to spatial and functional properties of typical indoor environments. Following findings in cognitive psychology, our model is composed of layers representing maps at different levels of abstraction. The complete system is integrated in a mobile robot endowed with laser and vision sensors for place and object recognition. The system also incorporates a linguistic framework that actively supports the map acquisition process, and which is used for situated dialogue. Finally, we discuss the capabilities of the integrated system

Knowledge Representation for Robots through Human-Robot Interaction

The representation of the knowledge needed by a robot to perform complex tasks is restricted by the limitations of perception. One possible way of overcoming this situation and designing "knowledgeable" robots is to rely on the interaction with the user. We propose a multi-modal interaction framework that allows to effectively acquire knowledge about the environment where the robot operates. In particular, in this paper we present a rich representation framework that can be automatically built from the metric map annotated with the indications provided by the user. Such a representation, allows then the robot to ground complex referential expressions for motion commands and to devise topological navigation plans to achieve the target locations.Comment: Knowledge Representation and Reasoning in Robotics Workshop at ICLP 201

Appearance-based localization for mobile robots using digital zoom and visual compass

This paper describes a localization system for mobile robots moving in dynamic indoor environments, which uses probabilistic integration of visual appearance and odometry information. The approach is based on a novel image matching algorithm for appearance-based place recognition that integrates digital zooming, to extend the area of application, and a visual compass. Ambiguous information used for recognizing places is resolved with multiple hypothesis tracking and a selection procedure inspired by Markov localization. This enables the system to deal with perceptual aliasing or absence of reliable sensor data. It has been implemented on a robot operating in an office scenario and the robustness of the approach demonstrated experimentally