Spatial Constraint Propagation for Identifying Qualitative Spatial Structure

Takushi Sogo*, Hiroshi Ishiguro, Toru Ishida

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review


This paper proposes a method for reconstructing qualitative positions of landmarks by using geometrical constraints. The acquisition process iterates the following steps: (1) observing relations among landmarks and motion directions of moving objects, (2) classifying the landmarks into a pair of landmark sets which are classified with a straight line, (3) acquiring three-point constraints from the pair, and (4) propagating the constraints. We have applied this method to acquisition of qualitative positions of multiple vision sensors in a distributed vision system, and evaluated it with simulations.

Original languageEnglish
Pages (from-to)62-71
Number of pages10
JournalSystems and Computers in Japan
Issue number2
Publication statusPublished - 2000 Feb
Externally publishedYes


  • Constraint propagation
  • Distributed vision system
  • Qualitative spatial structure
  • Three-point constraint

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Information Systems
  • Hardware and Architecture
  • Computational Theory and Mathematics


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