From Stereoscopic Vision to Symbolic Representation

This paper describes a symbolic representation of the data provided by the stereo-vision system of a mobile robot. The representation proposed is constructed from qualitative descriptions of transitions in the depth information given by the stereograms. The goal of this paper is to investigate the consequences in the depth transitions of qualitative spatial events such as the relative motion between objects, spatial occlusion and object's deformation (expansion and contraction). This causal relationship between spatial events and depth transitions forms a background theory for an abductive process of sensor data assimilation.