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

This thesis is focused on reducing the gap between the acquisition of low level information by robot sensors and the need of obtaining high level information for enhancing human-machine communication and for applying logical reasoning processes. To this end, approaches for qualitative and semantic image description and qualitative distance sensor interpretation were developed. Experimentation was carried out on di↵erent robotic platforms showing useful applications