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In this paper we present a system that detects and tracks objects and agents,computes spatial relations, and communicates those relations to the user usingspeech. Our system is able to detect multiple objects and agents at 30 framesper second using a RGBD camera. It is able to extract the spatial relations in,on, next to, near, and belongs to, and communicate these relations usingnatural language. The notion of belonging is particularly important forHuman-Robot Interaction since it allows the robot ground the language andreason about the right objects. Although our system is currently static andtargeted to a fixed location in a room, we are planning to port it to a mobilerobot thus allowing it explore the environment and create a spatial knowledgebase.

Where is My Stuff? An Interactive System for Spatial Relations