Consistency check in a multiple viewpoint system for reasoning about occlusion

Abstract

© Springer International Publishing AG 2017.This paper presents the implementation of a qualitative spatial reasoning formalism called Interval Occlusion Calculus based on Allen’s Algebra, that considers multiple viewpoints in a scene and the interpretation of the observations made from each point from the perspective of other agents. Furthermore we present a mechanism to check consistency for the information provided by the agents using a constraint satisfaction process. This formalism was tested in a 3D domain with real and simulated robot’s viewpoints.