Linguistic spatial relations of three dimensional scenes using SIFT keypoints

In this paper, we discuss the use of the scale invariant feature transform to match areas between stereo images. The three dimensional location of matched points are then computed. Each matched area is further matched to a database of known objects. After projecting the three dimensional locations onto a horizontal plane, the spatial relationship between pairs of objects are then described linguistically using a system of fuzzy rules. We are exploring the technique to facilitate human-like communication with a robot.