Sensor data assimilation as database transactions
Marcus V. Santos, Paulo Eduardo Santos · 2003
This paper extends a logic-based framework for robot scene interpretation by using the notion of path semantics. The main contributions of this approach are two fold. First, a logic language designed to account for the phenomenon of state changes in databases is extended with the concept of ab-duction and further applied on the task of robot sensor-data assimilation. Secondly, the present framework provides the theoretical foundations for symbolically interpreting long se-quences of transitions of sensor data. In practice, each snap-shot taken by the robot camera represents a database state. Transitions (i.e., changes) between consecutive snapshots are modeled by changes in the database and interpreted by a state transition oracle, which encodes axioms about common-sense spatial reasoning.