Abstract
Numerous applications in computer graphics, image understanding, and robot navigation share the common need to perceive the spatial properties and relationships of objects in a scene. The SPARQ (SPAtial Relationship Query) approach exploits the spatial properties inherent in octree and quadtree representations to directly infer certain spatial relationships. The SPARQ method demonstrates how both static and dynamic multidimensional scenes can be analyzed using goal driven query of domain specific spatial predicates. Pedagogical issues of scene capture, manipulation, and segmentation are discussed as well as methods of hierarchically composing spatial relationships from a base set of trivial relationships. A model for spatial relationship truthfulness is given and an octree solid modeler is presented.
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