Details of Grant 

EPSRC Reference:	GR/S02891/01
Title:	Spatial Reasoning and Perception in a Humanoid Robot
Principal Investigator:	Shanahan, Professor M
Other Investigators:
Researcher Co-Investigators:	Dr M Witkowski
Project Partners:
Department:	Electrical and Electronic Engineering
Organisation:	Imperial College London
Scheme:	Standard Research (Pre-FEC)
Starts:	01 April 2003	Ends:	31 March 2005	Value (£):	295,703
EPSRC Research Topic Classifications:	Artificial Intelligence
EPSRC Industrial Sector Classifications:
Related Grants:
Panel History:
Summary on Grant Application Form
This project proposes to investigate a topic fundamental to Cognitive Robotics, namely the interplay between high-level reasoning and low-level perception. It builds upon and exploits the team's recent work (GR/L20023 and GR/N13104) in theories of spatial occlusion and reasoning, and on abductive sensor interpretation. The proposed project combines them into a system where the results of spatial reasoning can be applied to the active interpretation of visual sensor data. This work will be tested on using an upper torso humanoid robot presently under construction at Imperial College. The primary task of the robot will be to build and maintain declarative logic-based representations of familiar objects in an otherwise cluttered visual space. The robot will then refine and corroborate its representations by manipulating the objects. Getting the robot to act in this principled way requires the project team to address a cluster of inter-related research issues from a knowledge representation point of view, including active perception, attention, symbol grounding (or anchoring), shape recognition, object tracking and object reidentification. In addition, using a separately located camera trained on the robot's workspace, the project will investigate the assimilation of spatial information from multiple viewpoints. This will bring in to the frame issues such as how to effectively communicate spatial knowledge from one robot to another, and how to use high-level declarative knowledge to help identify the same object viewed from different locations.
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Project URL:
Further Information:
Organisation Website:	http://www.imperial.ac.uk