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 language | English |
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Pages (from-to) | 6695-6711 |
Number of pages | 17 |
Journal | Sensors (Switzerland) |
Volume | 12 |
Issue number | 5 |
DOIs | |
Publication status | Published - May 2012 |
All Science Journal Classification (ASJC) codes
- Analytical Chemistry
- Atomic and Molecular Physics, and Optics
- Biochemistry
- Instrumentation
- Electrical and Electronic Engineering