@inproceedings {Sjoo2011a, title = {Functional topological relations for qualitative spatial representation}, abstract = {In this paper, a framework is proposed for representing knowledge about 3-D space in terms of the functional support and containment relationships, corresponding approximately to the prepositions ``on'' and ``in''. A perceptual model is presented which allows for appraising these qualitative relations given the geometries of objects; also, an axiomatic system for reasoning with the relations is put forward. We implement the system on a mobile robot and show how it can use uncertain visual input to infer a coherent qualitative evaluation of a scene, in terms of these functional relations.}, author = {Kristoffer Sj\"{o}\"{o} and Andrzej Pronobis and Patric Jensfelt}, month = {Jun}, year = {2011}, booktitle = {ICAR 2011} }