A formal model for structuring local perceptions of environmental space

The problem of constructing computational models of space that mimic those found in human spatial reasoning is addressed. This paper extends a formal model that addressed point objects in a 2D world to include the presence of line objects and barriers. The problem consists of determining an appropriate global model for the spatial configuration given a sequence of local views or observations. A formal model is proposed based on constraint network theory. The model leads to the identification of stable regions within which perceptual information about the environment changes slowly, and zones of transition within which the perceptual information changes more quickly. A special case of transition zones is a gateway, which may be viewed as a kind of discontinuity or singularity in the model. It is expected that the model obtained will be used to mimic human mental representations of navigable outdoor environments.