Categorization of indoor places using the Kinect sensor

Oscar Martinez Mozos, Hitoshi Mizutani, Ryo Kurazume, Tsutomu Hasegawa

Research output: Contribution to journalArticle

35 Citations (Scopus)

Abstract

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.

Original languageEnglish
Pages (from-to)6695-6711
Number of pages17
JournalSensors (Switzerland)
Volume12
Issue number5
DOIs
Publication statusPublished - May 1 2012

Fingerprint

Kitchens
robots
histograms
Mobile robots
Support vector machines
Classifiers
Cameras
Robots
corridors
gray scale
sensors
Sensors
classifiers
rooms
cameras
Support Vector Machine
Forests
Work Performance

All Science Journal Classification (ASJC) codes

  • Analytical Chemistry
  • Atomic and Molecular Physics, and Optics
  • Biochemistry
  • Instrumentation
  • Electrical and Electronic Engineering

Cite this

Categorization of indoor places using the Kinect sensor. / Mozos, Oscar Martinez; Mizutani, Hitoshi; Kurazume, Ryo; Hasegawa, Tsutomu.

In: Sensors (Switzerland), Vol. 12, No. 5, 01.05.2012, p. 6695-6711.

Research output: Contribution to journalArticle

Mozos, Oscar Martinez ; Mizutani, Hitoshi ; Kurazume, Ryo ; Hasegawa, Tsutomu. / Categorization of indoor places using the Kinect sensor. In: Sensors (Switzerland). 2012 ; Vol. 12, No. 5. pp. 6695-6711.
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