Object and image indexing based on region connection calculus and oriented matroid theory

In this paper a novel method for indexing views of 3D objects is presented. The topological properties of the regions of views of an object or of a set of objects are used to define an index based on region connection calculus and oriented matroid theory. Both are formalisms for qualitative spatial representation and reasoning and are complementary in the sense that, whereas region connection calculus characterize connectivity of couples of connected regions of views, oriented matroids encode relative position of disjoint regions of views and give local and global topological information about their spatial distribution. This indexing technique has been applied to hypothesis generation from a single view to reduce the number of candidates in 3D object recognition processes

A rule-based video database system architecture

Cataloged from PDF version of article.We propose a novel architecture for a video database system incorporating both spatio-temporal and semantic (keyword, event/activity and category-based) query facilities. The originality of our approach stems from the fact that we intend to provide full support for spatio-temporal, relative object-motion and similarity-based objecttrajectory queries by a rule-based system utilizing a knowledge-base while using an object-relational database to answer semantic-based queries. Our method of extracting and modeling spatio-temporal relations is also a unique one such that we segment video clips into shots using spatial relationships between objects in video frames rather than applying a traditional scene detection algorithm. The technique we use is simple, yet novel and powerful in terms of effectiveness and user query satisfaction: video clips are segmented into shots whenever the current set of relations between objects changes and the video frames, where these changes occur, are chosen as keyframes. The directional, topological and third-dimension relations used for shots are those of the keyframes selected to represent the shots and this information is kept, along with frame numbers of the keyframes, in a knowledge-base as Prolog facts. The system has a comprehensive set of inference rules to reduce the number of facts stored in the knowledge-base because a considerable number of facts, which otherwise would have to be stored explicitly, can be derived by rules with some extra effort. (C)2002 Elsevier Science Inc. All rights reserved

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

Reasoning about topological and cardinal direction relations between 2-dimensional spatial objects

Increasing the expressiveness of qualitative spatial calculi is an essential step towards meeting the requirements of applications. This can be achieved by combining existing calculi in a way that we can express spatial information using relations from multiple calculi. The great challenge is to develop reasoning algorithms that are correct and complete when reasoning over the combined information. Previous work has mainly studied cases where the interaction between the combined calculi was small, or where one of the two calculi was very simple. In this paper we tackle the important combination of topological and directional information for extended spatial objects. We combine some of the best known calculi in qualitative spatial reasoning, the RCC8 algebra for representing topological information, and the Rectangle Algebra (RA) and the Cardinal Direction Calculus (CDC) for directional information. We consider two different interpretations of the RCC8 algebra, one uses a weak connectedness relation, the other uses a strong connectedness relation. In both interpretations, we show that reasoning with topological and directional information is decidable and remains in NP. Our computational complexity results unveil the significant differences between RA and CDC, and that between weak and strong RCC8 models. Take the combination of basic RCC8 and basic CDC constraints as an example: we show that the consistency problem is in P only when we use the strong RCC8 algebra and explicitly know the corresponding basic RA constraints

Reasoning about topological and cardinal direction relations between 2-dimensional spatial objects

Increasing the expressiveness of qualitative spatial calculi is an essential step towards meeting the requirements of applications. This can be achieved by combining existing calculi in a way that we can express spatial information using relations from multiple calculi. The great challenge is to develop reasoning algorithms that are correct and complete when reasoning over the combined information. Previous work has mainly studied cases where the interaction between the combined calculi was small, or where one of the two calculi was very simple. In this paper we tackle the important combination of topological and directional information for extended spatial objects. We combine some of the best known calculi in qualitative spatial reasoning, the RCC8 algebra for representing topological information, and the Rectangle Algebra (RA) and the Cardinal Direction Calculus (CDC) for directional information. We consider two different interpretations of the RCC8 algebra, one uses a weak connectedness relation, the other uses a strong connectedness relation. In both interpretations, we show that reasoning with topological and directional information is decidable and remains in NP. Our computational complexity results unveil the significant differences between RA and CDC, and that between weak and strong RCC8 models. Take the combination of basic RCC8 and basic CDC constraints as an example: we show that the consistency problem is in P only when we use the strong RCC8 algebra and explicitly know the corresponding basic RA constraints

A rule-based video database system architecture

We propose a novel architecture for a video database system incorporating both spatio-temporal and semantic (keyword, event/activity and category-based) query facilities. The originality of our approach stems from the fact that we intend to provide full support for spatio-temporal, relative object-motion and similarity-based object-trajectory queries by a rule-based system utilizing a knowledge-base while using an object-relational database to answer semantic-based queries. Our method of extracting and modeling spatio-temporal relations is also a unique one such that we segment video clips into shots using spatial relationships between objects in video frames rather than applying a traditional scene detection algorithm. The technique we use is simple, yet novel and powerful in terms of effectiveness and user query satisfaction: video clips are segmented into shots whenever the current set of relations between objects changes and the video frames, where these changes occur, are chosen as keyframes. The directional, topological and third-dimension relations used for shots are those of the keyframes selected to represent the shots and this information is kept, along with frame numbers of the keyframes, in a knowledge-base as Prolog facts. The system has a comprehensive set of inference rules to reduce the number of facts stored in the knowledge-base because a considerable number of facts, which otherwise would have to be stored explicitly, can be derived by rules with some extra effort. © 2002 Elsevier Science Inc. All rights reserved

BilVideo: Design and implementation of a video database management system

With the advances in information technology, the amount of multimedia data captured, produced, and stored is increasing rapidly. As a consequence, multimedia content is widely used for many applications in today's world, and hence, a need for organizing this data, and accessing it from repositories with vast amount of information has been a driving stimulus both commercially and academically. In compliance with this inevitable trend, first image and especially later video database management systems have attracted a great deal of attention, since traditional database systems are designed to deal with alphanumeric information only, thereby not being suitable for multimedia data. In this paper, a prototype video database management system, which we call BilVideo, is introduced. The system architecture of BilVideo is original in that it provides full support for spatio-temporal queries that contain any combination of spatial, temporal, object-appearance, external-predicate, trajectory-projection, and similarity-based object-trajectory conditions by a rule-based system built on a knowledge-base, while utilizing an object-relational database to respond to semantic (keyword, event/activity, and category-based), color, shape, and texture queries. The parts of BilVideo (Fact-Extractor, Video-Annotator, its Web-based visual query interface, and its SQL-like textual query language) are presented, as well. Moreover, our query processing strategy is also briefly explained. © 2005 Springer Science + Business Media, Inc

Integrated Robot Task and Motion Planning in the Now

This paper provides an approach to integrating geometric motion planning with logical task planning for long-horizon tasks in domains with many objects. We propose a tight integration between the logical and geometric aspects of planning. We use a logical representation which includes entities that refer to poses, grasps, paths and regions, without the need for a priori discretization. Given this representation and some simple mechanisms for geometric inference, we characterize the pre-conditions and effects of robot actions in terms of these logical entities. We then reason about the interaction of the geometric and non-geometric aspects of our domains using the general-purpose mechanism of goal regression (also known as pre-image backchaining). We propose an aggressive mechanism for temporal hierarchical decomposition, which postpones the pre-conditions of actions to create an abstraction hierarchy that both limits the lengths of plans that need to be generated and limits the set of objects relevant to each plan. We describe an implementation of this planning method and demonstrate it in a simulated kitchen environment in which it solves problems that require approximately 100 individual pick or place operations for moving multiple objects in a complex domain.This work was supported in part by the NSF under Grant No. 1117325. Any opinions, findings, and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the National Science Foundation. We also gratefully acknowledge support from ONR MURI grant N00014-09-1-1051, from AFOSR grant AOARD-104135 and from the Singapore Ministry of Education under a grant to the Singapore-MIT International Design Center. We thank Willow Garage for the use of the PR2 robot as part of the PR2 Beta Program

An inference system for relationships between spatio-temporal granularities

Temporal, spatial, and spatio-temporal granularities allow one to qualify classical data locating them in time and space. In order to compare data qualified with different granularities and associate data to different granularities, it is necessary to know how the involved granularities are related. However, the explicit calculation of these relationships may be heavy from a computational point of view. Thus, in this paper, we propose an inference system for inferring definitely valid relationships starting from a set of already known valid relationships without to calculate them explicitly. We will prove the soundness and completeness of the system