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The Representation Space Paradigm of Concurrent Evolving Object Descriptions
February 1992 (vol. 14 no. 2)
pp. 146-156

A representation paradigm for instantiating and refining multiple, concurrent descriptions of an object from a sequence of imagery is presented. It is designed for the perception system of an autonomous robot that needs to describe many types of objects, initially detects objects at a distance and gradually acquires higher resolution data, and continuously collects sensory input. Since the data change significantly over time, the paradigm supports the evolution of descriptions, progressing from crude 2-D 'blob' descriptions to complete semantic models. To control this accumulation of new descriptions, the authors introduce the idea of representation space, a lattice of representations that specifies the order in which they should be considered for describing an object. A system, TraX, that constructs and refines models of outdoor objects detected in sequences of range data is described.

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Index Terms:
robot vision; pattern recognition; range data sequence detection; artificial intelligence; representation space paradigm; concurrent descriptions; perception system; semantic models; TraX; artificial intelligence; computer vision; computerised pattern recognition
Citation:
A>f. Bobick, R.C. Bolles, "The Representation Space Paradigm of Concurrent Evolving Object Descriptions," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 14, no. 2, pp. 146-156, Feb. 1992, doi:10.1109/34.121786
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