A Spatial Reasoning Framework for Commonsense Reasoning in Visually Intelligent Agents

Chiatti, Agnese; Bardaro, Gianluca; Motta, Enrico and Daga, Enrico (2022). A Spatial Reasoning Framework for Commonsense Reasoning in Visually Intelligent Agents. In: AIC 2022, 8th International Workshop on Artificial Intelligence and Cognition, 15-17 Jun 2022, Örebro, Sweden, CEUR.

URL: https://aic20.aass.oru.se/

Abstract

Service robots are expected to reliably make sense of complex, fast-changing environments. From a cognitive standpoint, they need the appropriate reasoning capabilities and background knowledge required to exhibit human-like Visual Intelligence. In particular, our prior work has shown that i) commonsense reasoning is a necessary capability for Visual Intelligence and also that ii) commonsense reasoning crucially requires the ability to reason about spatial relations between objects in the world. In this paper, we first recap our approach to Visual Intelligence in robotics, which is based on a hybrid architecture integrating a deep learning component with commonsense reasoning. We then present a framework for spatial reasoning, which has been designed to support the commonsense reasoning component in our architecture. Differently from prior approaches to qualitative spatial reasoning in robotics, the proposed framework is robust to variations in the robot's viewpoint and object orientation.
In the paper, we also show how this formally-defined framework can be operationalised in an off-the-shelf spatial database.

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