The spatial topological relations are the foundation of robot operation planning under unstructured and cluttered scenes. Defining complex relations and dealing with incomplete point clouds from the surface of objects are the most difficult challenge in the spatial topological relation analysis. In this paper, we presented the classification of spatial topological relations by dividing the intersection space into six parts. In order to improve accuracy and reduce computing time, convex hulls are utilized to represent the boundary of objects and the spatial topological relations can be determined by the category of points in point clouds. We verified our method on the datasets. The result demonstrated that we have great improvement comparing with the previous method.
Keywords: 6-intersection model; convex hull; spatial topological relation.