Qualitative Reasoning about Relative Direction of Oriented Points

, and . Artificial Intelligence Journal (2012)


An important issue in qualitative spatial reasoning is the representation of relative directions. In this paper we present simple geometric rules that enable reasoning about the relative direction between oriented points. This framework, the oriented point algebra OPRA_m, has a scalable granularity m. We develop a simple algorithm for computing the OPRA_m composition tables and prove its correctness. Using a composition table, algebraic closure for a set of OPRA_m statements is sufficient to solve spatial navigation tasks. It turns out that scalable granularity is useful in these navigation tasks.

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