We present a method for utilising knowledge of qualitative spatial relations between objects in order to facilitate efficient visual search for those objects. A computational model for the relation is used to sample a probability distribution that guides the selection of camera views. Specifically we examine the spatial relation “on”, in the sense of physical support, and show its usefulness in search experiments on a real robot. We also experimentally compare different search strategies and verify the efficiency of so-called indirect search.
IOS Press, Inc.
6751 Tepper Drive
Clifton, VA 20124
Tel.: +1 703 830 6300
Fax: +1 703 830 2300 firstname.lastname@example.org
(Corporate matters and books only) IOS Press c/o Accucoms US, Inc.
For North America Sales and Customer Service
West Point Commons
Lansdale PA 19446
Tel.: +1 866 855 8967
Fax: +1 215 660 5042 email@example.com