  In this paper, we will review the process of evidence accumulation in the
PSEIKI system for expectation-driven interpretation of images of 3-D scenes.
Expectations are presented to PSEIKI as a geometrical hierarchy of
abstractions. PSEIKI's job is then to construct abstraction hierarchies in the
perceived image taking cues from the abstraction hierarchies in the
expectations. The Dempster-Shafer formalism is used for associating belief
values with the different possible labels for the constructed abstractions in
the perceived image. This system has been used successfully for autonomous
navigation of a mobile robot in indoor environments.
