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Defining and evaluating qualitative spatialrelations for describing desktop scenes
KTH, School of Computer Science and Communication (CSC).
2013 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
Utformning och utvärdering av kvalitativa spatialarelationer för att beskriva skrivbordsmiljöer (Swedish)
Abstract [en]

In an everyday scene such as an office, one can find lots of objects with different sizes and shapes. Normally, these objects are placed following a certain order. Describing the different spatial relations between the objects in an environment is a simple task for a human being but it is not for a robot. This is due to the nature of these relations being abstract and this requires certain degree of intelligence in a robot. This thesis investigates ways for a robot to find descriptions in a scene using spatial relations such as “the mouse is to the right of the keyboard”. To deduce these relationships, accurate information about the position and orientation of the objects is needed and to achieve this purpose a software was developed. In order to use this information to extract descriptions of a scene, a system was implemented to quantify to what degree certain relations hold. Finally, several scenes were analyzed, by obtaining its respective description, trying to extract some patterns.

Abstract [sv]

I vardagliga miljöer som t.ex. ett kontor, kan man hitta en mängd olika objekt i olika storlekar och former. Normalt är dessa objekt placerade enligt vissa mönster. För oss människor är det enkelt att beskriva de rumsliga relationerna mellan objekt, men det är mycket svårt för en robot. Dessa relationer är abstrakta och kräver en relativt hög nivå av resonerande för att kunna hanteras. Denna rapport utreder en robots möjligheter att själv kunna generera beskrivningar för en scen med hjälp av rumsliga relationer som t.ex. att “musen är till höger om tangentbordet”. För att härleda dessa relationer är korrekt information om position och orientering för föremålen väldigt viktigt. För att få fram denna information har en mjukvara utvecklats som kan användas för att i insamlad data markera var objekt finns. Data från kontorsmiljöer har samplats in och olika relationer har definierats och undersökts för olika scener.

Place, publisher, year, edition, pages
2013.
National Category
Computer Science
Identifiers
URN: urn:nbn:se:kth:diva-142478OAI: oai:DiVA.org:kth-142478DiVA: diva2:703068
Educational program
Master of Science in Engineering - Computer Science and Technology
Supervisors
Examiners
Available from: 2014-03-11 Created: 2014-03-05 Last updated: 2014-03-11Bibliographically approved

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