Qualitative Spatial Reasoning with Oriented Point Relation in 3D Space

摘要

Among qualitative direction relation models, Oriented point relation algebra (OPRA(m)) is a remarkable model for robot navigation with uncertain direction information. It has great advantages in providing powerful expressions with very limited information compared with other point-based spatial relation models. The original OPRA(m) is defined in 2D space, and its model and reasoning algorithm are found not applicable in 3D space. We proposed a novel direction relation model named OPRA3D(m) to extend the original OPRA(m) to 3D space, and presented a new reasoning algorithm on Oriented point relation algebra in three dimension (OPRA3D(m)). A further study was carried out for composition reasoning on OPRA3D(m). The proposed reasoning algorithm will deduce new information which cannot be directly detected by hardware. The experiment showed the algorithm had some practical significance, it can be applied to the Unmanned aerial vehicle (UAV) navigation and similar scenarios.