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Mozos, Oscar Martinez; Mizutani, Hitoshi; Kurazume, Ryo; Hasegawa, Tsutomu (2012)
Publisher: Molecular Diversity Preservation International (MDPI)
Journal: Sensors (Basel, Switzerland)
Languages: English
Types: Article
Subjects: Kinect sensor, service robots, TP1-1185, Chemical technology, H671 Robotics, Article, place categorization, G760 Machine Learning
The categorization of places in indoor environments is an important capability for service robots working and interacting with humans. In this paper we present a method to categorize different areas in indoor environments using a mobile robot equipped with a Kinect camera. Our approach transforms depth and grey scale images taken at each place into histograms of local binary patterns (LBPs) whose dimensionality is further reduced following a uniform criterion. The histograms are then combined into a single feature vector which is categorized using a supervised method. In this work we compare the performance of support vector machines and random forests as supervised classifiers. Finally, we apply our technique to distinguish five different place categories: corridors, laboratories, offices, kitchens, and study rooms. Experimental results show that we can categorize these places with high accuracy using our approach.
  • The results below are discovered through our pilot algorithms. Let us know how we are doing!

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  • Discovered through pilot similarity algorithms. Send us your feedback.