Deduction of high level spatial relations

The problem of deriving spatial relationships between objects in general requires high level abstract representation, and it would pose difficulties even for human observer. Based on a formalism for spatial layouts proposed earlier [KiV92, VeK921, we present methods for deducing high level spatial relations between objects by an active, sighted agent in a large-scale environment. The deduction of spatial relations is based on simple visual clues, and thus this technique is more feasible than schemes that rely on complex object recognition.