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The representation space paradigm of concurrent evolving object descriptions

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2 Author(s)
Bobick, A.F. ; SRI Int., Menlo Park, CA, USA ; Bolles, R.C.

A representation paradigm for instantiating and refining multiple, concurrent descriptions of an object from a sequence of imagery is presented. It is designed for the perception system of an autonomous robot that needs to describe many types of objects, initially detects objects at a distance and gradually acquires higher resolution data, and continuously collects sensory input. Since the data change significantly over time, the paradigm supports the evolution of descriptions, progressing from crude 2-D `blob' descriptions to complete semantic models. To control this accumulation of new descriptions, the authors introduce the idea of representation space, a lattice of representations that specifies the order in which they should be considered for describing an object. A system, TraX, that constructs and refines models of outdoor objects detected in sequences of range data is described

Published in:

Pattern Analysis and Machine Intelligence, IEEE Transactions on  (Volume:14 ,  Issue: 2 )

Date of Publication:

Feb 1992

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