In this paper we present a formal common sense theory of the adoption of perception-based beliefs. We begin with a logical analysis of perception and then consider when perception should lead to belief change. Our theory is intended to apply toperception in humans and to perception in artificial agents at the level of the symbolic interface between a vision system and a belief system. In order to provide a context for our work we relate it to the emerging field of cognitive robotics, give anabstract architecture for an agent which is both embodied and capable of reasoning, and relate this to the concrete architectures of two vision-based surveillance systems.
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