@inproceedings{sjoo2011icar,
  author =       {Sj\"{o}\"{o}, Kristoffer and Pronobis, Andrzej and Jensfelt, Patric},
  title =        {Functional Topological Relations for Qualitative Spatial Representation},
  booktitle =    {Proceedings of the 15th International Conference on Advanced Robotics (ICAR)},
  year =         2011,
  address =      {Tallinn, Estonia},
  month =        jun,
  doi =          {10.1109/ICAR.2011.6088635},
  url =          {http://www.pronobis.pro/publications/sjoo2011icar},
  abstract =     {In this paper, a framework is proposed for representing knowledge about 3-D space in terms of the functional support and containment relationships, corresponding approximately to the prepositions "on" and "in". A perceptual model is presented which allows for appraising these qualitative relations given the geometries of objects; also, an axiomatic system for reasoning with the relations is put forward. We implement the system on a mobile robot and show how it can use uncertain visual input to infer a coherent qualitative evaluation of a scene, in terms of these functional relations.}
}