Nondeterministic data base for computerized visual perception

A description is given of the knowledge representation data base in the perception subsystem of the Mars robot vehicle prototype. Two types of information are stored. The first is generic information that represents general rules that are conformed to by structures in the expected environments. The second kind of information is a specific description of a structure, i.e., the properties and relations of objects in the specific case being analyzed. The generic knowledge is represented so that it can be applied to extract and infer the description of specific structures. The generic model of the rules is substantially a Bayesian representation of the statistics of the environment, which means it is geared to representation of nondeterministic rules relating properties of, and relations between, objects. The description of a specific structure is also nondeterministic in the sense that all properties and relations may take a range of values with an associated probability distribution.