“…However, a vast range of research in linguistics has shown that acceptance areas of spatial relation terms vary with the situation of use, including the location of nearby objects, knowledge of how objects work, the purpose of the utterance, and the roles of the parties communicating (Stock & Hall, 2018;Stock & Yousaf, 2018). More recent work has incorporated context in limited ways, including object types (Lan et al, 2012;Malinowski & Fritz, 2015;Platonov & Schubert, 2018) or size (Collell et al, 2018), and text embeddings, which are a vector representation of the semantics of the terms in the description (Bisk et al, 2018;Collell et al, 2018;Malinowski & Fritz, 2015). These latter studies are all in so-called 'tabletop' indoor environments or describe locations in images that take no account of the geographical factors characterizing our own area of research.…”