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.