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Qualitative spatial representations. Tony Cohn. School of Computing The University of Leeds a.g.cohn@leeds.ac.uk http://www.comp.leeds.ac.uk/. Contents. Brief survey of qualitative spatial/spatio-temporal representations Motivation Some qualitative spatial representations
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Qualitative spatial representations Tony Cohn School of Computing The University of Leeds a.g.cohn@leeds.ac.uk http://www.comp.leeds.ac.uk/
Contents • Brief survey of qualitative spatial/spatio-temporal representations • Motivation • Some qualitative spatial representations • Spatial Change • Challenges
Qualitative spatial/spatio-temporal representations • Naturally provides abstraction • Machine learning • Well developed calculi, languages, (often) semantics • Complementary to metric representations • Provide foundation for domain ontologies with spatially extended or indexed objects • Applications in geography, computer vision, robotics, natural language understanding, biology…
What is QR? (1) • QR (about physical systems) • symbolic, not analogical • continuous scalar quantities mapped to finite discrete space (qualitative quantity space) • e.g... á-, 0, +ñ • model situation by relationships between these quantities • relative size; arithmetical relationships, ... • de Kleer, Kuipers, Forbus,…
What is QR? (2) • relevant distinctions only • e.g. empty/full ... • - 0 + • Ambiguity • Not a replacement for Quantitative reasoning
What is QSR? (1) • Develop QR representations specifically for space • Richness of QSR derives from multi-dimensionality • Consider trying to apply temporal interval calculus in 2D: < = m o s d f • Can work well for particular domains -- e.g. envelope/address recognition (Walischewski 97)
What is QSR? (2) • Many aspects: • ontology, topology, orientation, distance, shape... • spatial change • Vagueness and uncertainty • reasoning mechanisms • pure space v. domain dependent • Formulations • FOPC, relation algebras, constraint languages, spatial (modal) logics
Ontology of Space • extended entities (regions)? • points, lines, boundaries? • mixed dimension entities? • Open/closed/regular/non regular regions? • Multi-piece (disconnected)? Interior connected? • What is the embedding space? • connected? discrete? dense? dimension? Euclidean?... • What entities and relations do we take as primitive, and what are defined from these primitives?
Mereology • Theory of parthood (Simons 87) • P(x,y) • Many theories • What principles should hold? • E.g. Weak supplementation principle: If x is a proper part of y, then there should be some other proper part z of y not identical with x. (not all mereologies obey this principle)
Mereotopology • Combining mereology and topological notions • Usually built from a primitive binary conection relation, C(x,y) • Reflexive and symmetric • Several different interpretations in the literature • Can define many relations from C(x,y)
RCC-8 • 8 provably jointly exhaustive pairwise disjoint relations (JEPD) DC EC PO TPP NTPP EQ TPPi NTPPi
C(x,y) is very expressive • Can also define: • Holes, dimension, one pieceness • Topological functions • Boolean functions (sum, complement, intersection) • … • Touching v connection?
An alternative basis: 9-intersection model (9IM) • 29 = 512 combinations • 8 relations assuming planar regular point sets • potentially more expressive • considers relationship between region and embedding space • Variant models discrete space (16 relations) • Egenhofer & Sharma, 93) • Dimension extended” method (DEM) • In the case where array entry is ‘¬’, replace with dimension of intersection: 0,1,2
Mereology and Topology • Which is primal? (Varzi 96) • Mereology is insufficient by itself • can’t define connection or 1-pieceness from parthood 1. generalise mereology by adding topological primitive 2. topology is primal and mereology is sub theory 3. topology is specialised domain specific sub theory Challenge: choosing primitives and inter-relating primitives in different theories
Between Topology andMetric representations • What QSR calculi are there “in the middle”? • Orientation, convexity, shape abstractions… • Some early calculi integrated these • we will separate out components as far as possible • Some example calculi in next few slides • Mostly defined using algebraic techniques rather than logics, or only semi-formally. Challenge: finding expressive but efficient “semi-metric” calculi.
Orientation • Naturally qualitative: clockwise/anticlockwise orientation • Need reference frame • deictic: x is to the left of y (viewed from observer) • intrinsic: x is in front of y • (depends on objects having fronts) • absolute: x is to the north of y • Most work 2D • Most work considers orientation between points or wrt directed lines Challenge: combining region based mereotopology with point based orientation calculi.
Qualitative Positions wrt oriented lines • pos(p,li) = + iff p lies to left of li • pos(p,li) = 0 iff p lies on li • pos(p,li) = - iff p lies to right of li l1 l2 +-- --- ++- +-+ l3 --+ +++ -++ Note: 19 positions (7 named) -- 8 not possible
Star Calculus (Renz and Ligozat) If more than 2 intersecting lines used for defining sectors, then easy to define a coordinate system and thus a geometry.
Qualitative Shape Descriptions • boundary representations • axial representations • shape abstractions • synthetic: set of primitive shapes • Boolean algebra to generate complex shapes Challenge: finding useful qualitative shape calculi
boundary representations | É • Hoffman & Richards (82): label boundary segments: • curving out É • curving in Ì • straight | • angle outward > • angle inward < • cusp outward  • cusp inward Á • Meathrel & Galton (2001) provide a hierarchical, representation calculus • Generalises all previous approaches > > • Ì • Ì < > | É • Ì > >
Using Convex Hull to describe shape • conv(x) + C(x,y) • topological inside • Clot in circulatory system • geometrical inside • between bones • “scattered inside” • Discs between vertebrae • “containable inside” • Ball of femur in pelvis • ...
Expressiveness of conv(x) • Constraint language of EC(x) + PP(x) + Conv(x) • can distinguish any two bounded regular regions not related by an affine transformation • Davis et al (97) • intractable (at least as hard as determining whether set of algebraic constraints over reals is consistent • Davis et al (97)
Mereogeometries • Region Based Geometry (RBG) • 2nd order axiomatisation • P(x,y) + Sphere(x) • Categorical • (Region based version of Tarski’s geometry) • Borgo and Masolo (06) • Analysis of several other systems (eg de Laguna) • Four shown to be strongly semantically equivalent • Some work on on constraint systems • Less expressive but more tractable
Qualitative Spatio-temporal representations • Capturing interactions between time and space • continuity • Many temporal calculi • Temporal modal logics, Allen’s calculus… • How to combine? • Ontology of space-time (3+1D v. 4D) • Computational issues Challenge: finding useful qualitative spatio-temporal calculi
Continuity Networks/Conceptual Neighbourhoods • What are next qualitative relations if entities transform/translate continuously? • E.g. RCC-8 • If uncertain about the relation what are the next most likely possibilities? • Uncertainty of precise relation will result in connected subgraph (Freksa 91) • Can be used as basis of a qualitative simulation algorithm
Qualitative simulation of phagocytosis • Uses Continuity network + composition table to check consistency
Conceptual Neighbourhoods for other calculi • Virtually every calculus with a set of JEPD relations has presented a CN. • E.g.
Decidable Spatiotemporal modal logics(Wolter & Zakharyashev) • Combine point based temporal logic with RCC8 • temporal operators: Since, Until • can define: Next (O), Always in the future ¤+, Sometime in the future ¦+ • ST0: allow temporal operators on spatial formulae • satisfiability is PSPACE complete • Eg ¤+P(brain,head) • The brain will always be part of the head • can express continuity of change (conceptual neighbourhood) • Can add Boolean operators to region terms • E.g. EQ(arms,leftarm+rightarm)
Spatiotemporal modal logic (contd) • ST1: allow O to apply to region variables (iteratively) • Eg ð ¤+P(Ofemur,femur) • The femur will never contract • satisfiability decidable and NP complete • ST2: allow the other temporal operators to apply to region variables (iteratively) • finite change/state assumption • satisfiability decidable in EXPSPACE • P(blood, ¦+ leftarm) • all molecules in the blood will be part of the left arm (but not necessarily at the same time)
Representation in QSR • Mereology: assemblies • Meretopology • Rings, strings, covalent linkage, … • … + convex hull • Beads, tunnels, threading… • Helix • RBG
Recap • Surprisingly rich languages for qualitative spatial representation • symbolic representations • Topology, orientation, distance, ... • hundreds of distinctions easily made • Static reasoning: • composition, constraints, 0-order logic • Dynamic reasoning: continuity networks/conceptual neighbourhood diagrams