A Logic-Based Formulation of Active Visual Perception

Murray Shanahan and Dave Randell


Building on earlier attempts to characterise robot perception as a form of abduction, this paper presents a logical account of active visual perception in the context of an upper-torso humanoid robot. Using the event calculus to represent actions and change, and aspect graphs to represent shape, the formalisation captures the way the robot’s knowledge of the objects in its workspace can increase through interaction with them.