A model for the 3D relative orientation based on TPCC

作者：Huo Linlin^*; Ouyang Jihong; Sun Wei

来源：Journal of Information and Computational Science, 2013, 10(5): 1435-1443.

DOI：10.12733/jics20101588

• 3D orientation
• Relative orientation
• Spatial reasoning
• Spatial relations
• Tpcc

Relative orientation is important for the theory of spatial relations. It contains position and direction and reflects the wealth of spatial information, which causes widespread concern in many fields such as computer vision, robot navigation, image matching. In order to express the relative orientation relation in the three-dimensional space, this paper proposes three-dimensional model 3DTPCC by extending the model TPCC for two-dimensional relative orientation relation. Taking into account relative orientation and granularity, the new relative radius and relative angles are defined. Moreover, a formal definition of 125-kinds 3DTPCC relations and the inversion table are given. Finally, the 3DTPCC model is applied to describe the spatial scenario of two robots passing a ball to each other. Compared with the existing two-dimensional model TPCC, 3DTPCC is more expressive and can describe more orientations in the three-dimensional space. Its expression consists with human cognition well.

• 出版日期2013