Multispecialist System for 3D Scene Analysis

This paper presents a scene analysis system, called MESSIE, in a 3D robotic context. It is a blackboard based multispecialist system. The basic architecture of MESSIE has been extended to meet the requirements of a vision reasoning system for a robotic platform and to generalize the application domain of our previous works 7, 4, 3, 5]. In the rst part, we present the system architecture and the models of objects , scene and sensors and the diierent interpretation and detection strategies. After, we present current experiments on indoor scene interpretation and an interpretation running example using constrained low-level feature extraction mechanism to improve low-level processing results.