Indoor place classification using robot behavior and vision data

International Journal of Advanced Robotic Systems

Volumn 8, Issue 5, 2011, Pages 49-60

  Yi, Chuho ^a   Oh, Young Ceol ^a   Suh, Il Hong ^a   Choi, Byung Uk ^a  

^a Hanyang University   (South Korea)

Author keywords

Behavior data; Na ve bayes; Place classification; Vision data

Indexed keywords

COMPUTER VISION; GRAPHIC METHODS; INPUT OUTPUT PROGRAMS; INTELLIGENT ROBOTS; PROBABILITY;

AUTONOMOUS NAVIGATION; BAYES CLASSIFICATION; BEHAVIOR DATA; BEHAVIORAL PATTERNS; CLASSIFICATION PERFORMANCE; ORIENTATION HISTOGRAMS; ROTATIONAL BEHAVIOR; VISION DATA;

CLASSIFICATION (OF INFORMATION);

EID: 81055127008     PISSN: 17298806     EISSN: 17298814     Source Type: Journal    
DOI: 10.5772/45699     Document Type: Article

References (25)

1. D. Lowe, "Distinctive Image Features from Scale-Invariant Keypoints," International Journal of Computer Vision, v.60 n.2, p.91-110, 2004.
2. A. Rottmann, O. Mozos, C. Stachniss, and W. Burgard. "Semantic place classification of indoor environments with mobile robots using boosting," in Proc. of the National Conference on Artificial Intelligence, 2005.
3. O. Mozos, A. Rottmann, R. Triebel, P. Jensfelt, and W. Burgard. "Semantic Labeling of Places using Information Extracted form Laser and Vision Sensor Data," IROS 2006 workshop : From Sensors to Human Spatial Concepts, pp. 33-39, 2006.
4. A. Pronobis, O. Mozos, B. Caputo, and P. Jensfelt, "Multi-modal semantic place classification," The International Journal of Robotics Research (IJRR), Special Issue on Robotic Vision, 29(2-3), pp. 298-320, 2010.
5. A. Tapus and R. Siegwart, "Incremental Topological Mapping with Fingerprints of Places," in Proceedings of the IEEE/RSJ International Conference on Intelligent Robot and Systems (IROS), 2005.
6. T. Nakamura, S. Takamura, and M. Asada, "Behavior-based map representation for a sonarbased mobile robot by statistical methods," in Proceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 276-283, 1996.
7. W. Freeman and M. Roth. "Orientation histograms for hand gesture recognition," Intl. Workshop on Automatic Face and Gesture-Recognition, IEEE Computer Society, pp 296-301, 1995.
8. G. Csurka, C. Dance, L. Fan, J. Willamowski, and C. Bray, "Visual Categorization with Bags of Keypoints," in European Conference on Computer Vision, 2004.
9. M. Cambron and R. Peters II, "Determination of sensory motor coordination parameters for a robot via teleoperation," in Proceedings of the 2001 IEEE International Conference on Systems, Man, and Cybernetics, vol. 5, pp. 3252-3257, 2001. (Pubitemid 34199454)
10. C. Scheier and R. Pfeifer, "Classification as sensorymotor coordination," in Proceedings 3rd European Conference on Artificial Life, pp. 656-667, 1995.
11. M. Betke and L. Gurvits, "Mobile Robot Localization Using Landmarks," Transactions on Robotics and Automation, Vol. 13, No 2, pp. 251-263, 1997. (Pubitemid 127763027)
12. A. Carbonaro, P. Zingaretti, "Landmark matching in a varying environment," Euromicro Workshop on Advanced Mobile Robots, pp. 147-153, 1997.
13. A. Briggs, D. Scharstein, D. Braziunas, C. Dima, P.Wall, "Mobile Robot Navigation Using Self-Similar Landmarks," in International Conference on Robotics and Automation, pp. 1428-1434, 2000.
14. R. Sim and G. Dudek, "Mobile robot localization from learned landmarks," International Conference on Intelligent Robots and Systems, vol. 2, pp. 1060-1065, 1998.
15. R. Murrieta-Cid, M. Briot, and N. Vandapel, "Landmark identification and tracking in natural environment," in International Conference on Intelligent Robots and Systems, vol.1, pp. 179-184, 1998.
16. M. Rous, H. Lupschen, and K. Kraiss, "Vision-Based indoor scene analysis for natural landmark detection," in International Conference on Robotics and Automation, 2005.
17. S. Vasudevan, A. Harati, and R. Siegwart, "A Bayesian Approach to Conceptualization and Place Classification: Using the Number of Occurrences of Objects to Infer Concepts," in the Proceedings of the 3rd European Conference on Mobile Robotics (ECMR), 2007.
18. M. Ullah, A. Pronobis, B. Caputo, J.Luo, P. Jensfelt, and H. Christensen, "Towards Robust Place Recognition for Robot Localization," in IEEE International Conference on Robotics and Automation, 2008.
19. S. Lazebnik, C. Schmid, and J. Ponce, "Beyond Bags of Features: Spatial Pyramid Matching for Recognizing Natural Scene Categories," in Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, vol. II, pp. 2169-2178, 2006. (Pubitemid 44931582)
20. M. Bar, "Visual Objects in Context," Nature Reviews Neuroscience, pp. 617-629, 2004. (Pubitemid 39013593)
21. A. Torralba, K. Murphy, W. Freeman, and M. Rubin, "Context-based Vision System for Place and Object recognition," in IEEE International Conference on Computer Vision, vol.1, pp. 273-280, 2003.
22. L. Paletta, S. Frintrop, and J. Hertzberg, "Robust localization using context in omnidirectional imaging," in International Conference on Robotics and Automation, pp. 2072-2077, 2001. (Pubitemid 32815159)
23. S. Im and S. Cho, "Context-Based Scene Recognition Using Bayesian Networks with Scale-Invariant Feature Transform," Advanced Concepts for Intelligent Vision Systems (ACIVS), pp. 1080-1087, 2006. (Pubitemid 44609831)
24. H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavrakij, and S. Thrun, "Principles of Robot Motion-Theory," Algorithms, and Implementations, MIT-Press, 2005.
25. C. Chang, and C. Lin, "LIBSVM: A library for support vector machines," Software retrieved, 2006. available at http://www.csie.ntu.edu. tw/̃cjlin/libsvm.