A Biologically Inspired Approach for Robot Depth Estimation

Figure 3

Qualitative encode for the wooden house from the estimated depth map and an image labelling all the objects of interest for the robotic system. For this, the depth reference system (DRS) has been defined as Δ_r = {[0, 60[, [60, 100[, [100, 150[, [150, 250[, [250, ∞[} and Q  = {very_close (vc), close (c), nearby (n), far (f), very_far (vf)}, while the relationships are coded according to the Freksa and Zimmermann’s approach [48] (i.e., LAB₀ = {front_left (fl), straight_front (sf), front_right (fr), left (l), none (n), back_left (bl), straight_back (sb), back_right (br)} and INT₀ = {]90, 180[, [90, 90], [180, 180], _, [0, 0], ]180, 270[, [270, 270], ]270, 360[}).