A Biologically Inspired Approach for Robot Depth Estimation

Table 3

The composition table which solves the BSIP for the fine DRS₂ with Q₂ = {closer_than_halfway (ch), halfway (h), closer_than (ct), nearby (n), closer_than_twice (ctw), double (d), further_than_double (fd)} where the first column represents the relation b with respect to a, while the first row indicates the relationship c with respect to b. The rest of cells of the table correspond to the inferred distance relationship c with respect to a, which is included into brackets because, sometimes, it contains a disjunction (list) of relationships. The values given in bold can be omitted since table is symmetric with respect to the diagonal.

Dab/Dbc	ch	h	ct	n	ctw	d	fd
CASE 1
ch	{ch, h, ct, n}	{ch, h, ct, n}	{ch, h, ct, n, ctw}	{h, ct, n, ctw, d}	{h, ctw, d}	{ctw, d, fd}	{fd}
h	{ch, h, ct, n}	{ch, h, ct, n, ctw}	{ch, h, ct, n, ctw}	{ch, h, ct, n, ctw, d}	{ct, n, ctw, d}	{n, ctw, d, fd}	{fd}
ct	{ch, h, ct, n, ctw}	{ch, h, ct, h, ctw}	{ch, h, ct, n, ctw, d}	{ch, h, ct, n, ctw, d}	{h, ct, n, ctw, d, fd}	{n, ctw, d, fd}	{fd}
n	{h, ct, n, ctw, d}	{ch, h, ct, n, ctw, d}	{ch, h, ct, n, ctw, d}	{ch, h, ct, n, ctw, d, fd}	{ch, h, ct, n, ctw, d, fd}	{h, ct, n, ctw, d, fd}	{fd}
ctw	{h, ctw, d}	{ct, n, ctw, d}	{ch, ct, n, ctw, d, fd}	{ch, h, ct, n, ctw, d, fd}	{ch, h, ct, n, ctw, d, fd}	{ch, h, ct, n, ctw, d, fd}	{fd}
d	{ctw, d, fd}	{n, ctw, d, fd}	{n, ctw, d, fd}	{h, ct, n, ctw, d, fd}	{ch, h, ct, n, ctw, d, fd}	{ch, h, ct, n, ctw, d, fd}	{fd}
fd	{fd}	{fd}	{fd}	{fd}	{fd}	{fd}	{ch, h, ct, n, ctw, d, fd}
CASE 2 and 3
ch	{ch}	{h}	{ct}	{n}	{ctw}	{d}	{fd}
h	{h}	{ch}	{ch}	{ct}	{n}	{d}	{fd}
ct	{ct}	{ch}	{ch}	{h}	{n}	{d}	{fd}
n	{n}	{ct}	{h}	{ch}	{ct}	{ctw}	{fd}
ctw	{ctw}	{n}	{n}	{ct}	{ch}	{n}	{fd}
d	{d}	{d}	{d}	{ctw}	{n}	{ct}	{fd}
fd	{fd}	{fd}	{fd}	{fd}	{fd}	{fd}	{fd}