Objectposities

Objectposities are compact descriptors of the spatial arrangement of objects within a scene. They encode relative positions, orientations, distances, and visibility relations among objects in a unified representation for spatial reasoning.

A typical objectposity for objects O = {o1,...,on} in a reference frame F consists of pairwise relation features r_ij for each pair (oi,oj). Features include distance d(oi,oj), relative bearing, angular difference, and a visibility or occlusion score. Some formulations add global attributes such as scale or symmetry, and higher-order relations for larger subsets.

Computation and representation: Objectposities are derived from sensor data such as RGB‑D images or LiDAR, using pose estimation and object recognition. The result is stored as a feature vector, a graph, or a table of relations, often with probabilistic confidence values.

Applications: They support scene understanding, object manipulation planning, autonomous navigation, and augmented reality alignment, and can serve as inputs to learning systems that infer interactions between objects.

Relationship to related concepts: Objectposities relate to pose estimates, scene graphs, and spatial-relations datasets. They may be used as an alternative or complement to absolute coordinate representations, emphasizing relational structure.

Limitations: There is no single standard definition or metric, so implementations vary. Performance can degrade with noise or occlusion, and interpreting relations can be ambiguous in cluttered scenes. Work continues on benchmarks and efficient, robust representations.