A mobile robot that learns its place
Neural Computation
Xavier: a robot navigation architecture based on partially observable Markov decision process models
Artificial intelligence and mobile robots
Improved Boosting Algorithms Using Confidence-rated Predictions
Machine Learning - The Eleventh Annual Conference on computational Learning Theory
A decision-theoretic generalization of on-line learning and an application to boosting
EuroCOLT '95 Proceedings of the Second European Conference on Computational Learning Theory
Bootstrap learning for place recognition
Eighteenth national conference on Artificial intelligence
Context-based vision system for place and object recognition
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Learning hierarchical object maps of non-stationary environments with mobile robots
UAI'02 Proceedings of the Eighteenth conference on Uncertainty in artificial intelligence
Clarification dialogues in human-augmented mapping
Proceedings of the 1st ACM SIGCHI/SIGART conference on Human-robot interaction
Supervised semantic labeling of places using information extracted from sensor data
Robotics and Autonomous Systems
Robotics and Autonomous Systems
A Semantic SLAM Model for Autonomous Mobile Robots Using Content Based Image Retrieval Techniques
ICONIP '09 Proceedings of the 16th International Conference on Neural Information Processing: Part II
Visual place categorization: problem, dataset, and algorithm
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Multi-modal Semantic Place Classification
International Journal of Robotics Research
Combining monoSLAM with object recognition for scene augmentation using a wearable camera
Image and Vision Computing
Histogram of Oriented Uniform Patterns for robust place recognition and categorization
International Journal of Robotics Research
PLISS: labeling places using online changepoint detection
Autonomous Robots
Hierarchical Classifiers for Robust Topological Robot Localization
Journal of Intelligent and Robotic Systems
Integrating cue descriptors in bubble space for place recognition
ICVS'13 Proceedings of the 9th international conference on Computer Vision Systems
Robotics and Autonomous Systems
Learning spatially semantic representations for cognitive robot navigation
Robotics and Autonomous Systems
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Indoor environments can typically be divided into places with different functionalities like kitchens, offices, or seminar rooms. We believe that such semantic information enables a mobile robot to more efficiently accomplish a variety of tasks such as human-robot interaction, path-planning, or localization. This paper presents a supervised learning approach to label different locations using boosting. We train a classifier using features extracted from vision and laser range data. Furthermore, we apply a Hidden Markov Model to increase the robustness of the final classification. Our technique has been implemented and tested on real robots as well as in simulation. The experiments demonstrate that our approach can be utilized to robustly classify places into semantic categories. We also present an example of localization using semantic labeling.