Integration of visual modules: an extension of the Marr paradigm
Integration of visual modules: an extension of the Marr paradigm
Xavier: a robot navigation architecture based on partially observable Markov decision process models
Artificial intelligence and mobile robots
Fast training of support vector machines using sequential minimal optimization
Advances in kernel methods
An introduction to support Vector Machines: and other kernel-based learning methods
An introduction to support Vector Machines: and other kernel-based learning methods
Data Fusion for Sensory Information Processing Systems
Data Fusion for Sensory Information Processing Systems
Contextual Priming for Object Detection
International Journal of Computer Vision
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
A frontier-based approach for autonomous exploration
CIRA '97 Proceedings of the 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation
On representation and matching of multi-coloured objects
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Recognition with Local Features: the Kernel Recipe
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Context-based vision system for place and object recognition
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Pattern Classification (2nd Edition)
Pattern Classification (2nd Edition)
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Object Recognition Using Composed Receptive Field Histograms of Higher Dimensionality
ICPR '04 Proceedings of the Pattern Recognition, 17th International Conference on (ICPR'04) Volume 2 - Volume 02
International Journal of Computer Vision
Supervised semantic labeling of places using information extracted from sensor data
Robotics and Autonomous Systems
Statistical Comparisons of Classifiers over Multiple Data Sets
The Journal of Machine Learning Research
Conceptual spatial representations for indoor mobile robots
Robotics and Autonomous Systems
Discriminative cue integration for medical image annotation
Pattern Recognition Letters
Semantic place classification of indoor environments with mobile robots using boosting
AAAI'05 Proceedings of the 20th national conference on Artificial intelligence - Volume 3
AAAI'07 Proceedings of the 22nd national conference on Artificial intelligence - Volume 2
Cue integration through discriminative accumulation
CVPR'04 Proceedings of the 2004 IEEE computer society conference on Computer vision and pattern recognition
SURF: speeded up robust features
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part I
Support vector machines for histogram-based image classification
IEEE Transactions on Neural Networks
An extended-HCT semantic description for visual place recognition
International Journal of Robotics Research
PLISS: labeling places using online changepoint detection
Autonomous Robots
Exploiting probabilistic knowledge under uncertain sensing for efficient robot behaviour
IJCAI'11 Proceedings of the Twenty-Second international joint conference on Artificial Intelligence - Volume Volume Three
Online semantic mapping of urban environments
SC'12 Proceedings of the 2012 international conference on Spatial Cognition VIII
Object templates for visual place categorization
ACCV'12 Proceedings of the 11th Asian conference on Computer Vision - Volume Part IV
Proceedings of the 1st ACM international workshop on Multimedia indexing and information retrieval for healthcare
Indoor scene recognition by a mobile robot through adaptive object detection
Robotics and Autonomous Systems
Inferring robot goals from violations of semantic knowledge
Robotics and Autonomous Systems
Integrating cue descriptors in bubble space for place recognition
ICVS'13 Proceedings of the 9th international conference on Computer Vision Systems
Learning spatially semantic representations for cognitive robot navigation
Robotics and Autonomous Systems
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The ability to represent knowledge about space and its position therein is crucial for a mobile robot. To this end, topological and semantic descriptions are gaining popularity for augmenting purely metric space representations. In this paper we present a multi-modal place classification system that allows a mobile robot to identify places and recognize semantic categories in an indoor environment. The system effectively utilizes information from different robotic sensors by fusing multiple visual cues and laser range data. This is achieved using a high-level cue integration scheme based on a Support Vector Machine (SVM) that learns how to optimally combine and weight each cue. Our multi-modal place classification approach can be used to obtain a real-time semantic space labeling system which integrates information over time and space. We perform an extensive experimental evaluation of the method for two different platforms and environments, on a realistic off-line database and in a live experiment on an autonomous robot. The results clearly demonstrate the effectiveness of our cue integration scheme and its value for robust place classification under varying conditions.