Qualitative distances and qualitative description of images for indoor scene description and recognition in robotics

摘要

This thesis is focused on reducing the gapbetween the acquisition of low level information byrobot sensors and the need of obtaining high level informationfor enhancing human-machine communicationand for applying logical reasoning processes. Tothis end, approaches for qualitative and semantic imagedescription and qualitative distance sensor interpretationwere developed. Experimentation was carriedout on di↵erent robotic platforms showing usefulapplications.