Brownie: Searching concealed real world artifacts

This paper presents Brownie that searches the location of a sensor attached artifact and returns the location with a location expression. Contain expression between artifacts are intuitive location expression to indicate. If you search your book, a contain expression (e.g., the cabinet contains your book.) is more intuitive than other location expression (e.g., the distance from your book to the cabinet is within 2 meters.). There are two requirements to create contain expressions. The first requirement is detection of contain expressions. In every day life, there are sensor attached artifacts and normal artifacts that are not attached sensors. It is difficult to detect normal artifacts which contain sensor attached artifacts. The second requirement is tracking of contain expressions. It is difficult to track normal artifacts that contain sensor attached artifacts. To satisfy the two requirements, we introduce a camera for environment, and ultrasonic and acceleration sensors for an artifacts. To satisfy detection of contain expressions, the combination algorithm of the camera and ultrasonic sensors is introduced. To satisfy tracking of contain expressions, the combination algorithm of the camera and acceleration sensors is introduced. We conducted experiments to confirm that Brownie satisfies two requirements.