Spatial Reasoning by Active Observation

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