<title>Exploiting geometric relationships for object modeling and recognition</title>

Abstract

The tasks of navigation and exploration require a robot to acquire and utilize knowledge about its environment. The robot''s sensor data often noisy or incomplete must be augmented with additional constraints to derive a reasonable environmental description. Models of generic objects and their geometric relationships can provide such constraints. This paper describes an application of geometric reasoning that uses generic object and relationship models to merge images from three points of view and hypothesize missing elements of the scene. 1.