Digital image processing (2nd ed.)
Digital image processing (2nd ed.)
The image processing handbook
Topological mapping for mobile robots using a combination of sonar and vision sensing
AAAI'94 Proceedings of the twelfth national conference on Artificial intelligence (vol. 2)
Learning metric-topological maps for indoor mobile robot navigation
Artificial Intelligence
Enhanced hypertext categorization using hyperlinks
SIGMOD '98 Proceedings of the 1998 ACM SIGMOD international conference on Management of data
Computational geometry in C (2nd ed.)
Computational geometry in C (2nd ed.)
Xavier: a robot navigation architecture based on partially observable Markov decision process models
Artificial intelligence and mobile robots
Sequential Operations in Digital Picture Processing
Journal of the ACM (JACM)
Improved Boosting Algorithms Using Confidence-rated Predictions
Machine Learning - The Eleventh Annual Conference on computational Learning Theory
Computer and Robot 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
Context-based vision system for place and object recognition
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Semantic place classification of indoor environments with mobile robots using boosting
AAAI'05 Proceedings of the 20th national conference on Artificial intelligence - Volume 3
Learning topological maps with weak local odometric information
IJCAI'97 Proceedings of the Fifteenth international joint conference on Artifical intelligence - Volume 2
Relational object maps for mobile robots
IJCAI'05 Proceedings of the 19th international joint conference on Artificial intelligence
Learning hierarchical object maps of non-stationary environments with mobile robots
UAI'02 Proceedings of the Eighteenth conference on Uncertainty in artificial intelligence
Discriminative probabilistic models for relational data
UAI'02 Proceedings of the Eighteenth conference on Uncertainty in artificial intelligence
Bayesian space conceptualization and place classification for semantic maps in mobile robotics
Robotics and Autonomous Systems
Leaving Flatland: Realtime 3D Stereo Semantic Reconstruction
ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part I
AAAI'07 Proceedings of the 22nd national conference on Artificial intelligence - Volume 2
IJCAI'09 Proceedings of the 21st international jont conference on Artifical intelligence
A realistic benchmark for visual indoor place recognition
Robotics and Autonomous Systems
Leaving flatland: toward real-time 3D navigation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Model-based and learned semantic object labeling in 3D point cloud maps of kitchen environments
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Pointing to space: modeling of deictic interaction referring to regions
Proceedings of the 5th ACM/IEEE international conference on Human-robot interaction
Multi-modal Semantic Place Classification
International Journal of Robotics Research
Image and Vision Computing
Building virtual worlds by 3d object mapping
Proceedings of the 2010 ACM workshop on Surreal media and virtual cloning
Classification and Semantic Mapping of Urban Environments
International Journal of Robotics Research
Modeling environments from a route perspective
Proceedings of the 6th international conference on Human-robot interaction
Towards semantic navigation in mobile robotics
Graph transformations and model-driven engineering
Semantic parsing of street scenes from video
International Journal of Robotics Research
Evaluation of Three Vision Based Object Perception Methods for a Mobile Robot
Journal of Intelligent and Robotic Systems
Understanding suitable locations for waiting
Proceedings of the 8th ACM/IEEE international conference on Human-robot interaction
May i talk about other shops here?: modeling territory and invasion in front of shops
Proceedings of the 2014 ACM/IEEE international conference on Human-robot interaction
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Indoor environments can typically be divided into places with different functionalities like corridors, rooms or doorways. The ability to learn such semantic categories from sensor data enables a mobile robot to extend the representation of the environment facilitating interaction with humans. As an example, natural language terms like ''corridor'' or ''room'' can be used to communicate the position of the robot in a map in a more intuitive way. In this work, we first propose an approach based on supervised learning to classify the pose of a mobile robot into semantic classes. Our method uses AdaBoost to boost simple features extracted from sensor range data into a strong classifier. We present two main applications of this approach. Firstly, we show how our approach can be utilized by a moving robot for an online classification of the poses traversed along its path using a hidden Markov model. In this case we additionally use as features objects extracted from images. Secondly, we introduce an approach to learn topological maps from geometric maps by applying our semantic classification procedure in combination with a probabilistic relaxation method. Alternatively, we apply associative Markov networks to classify geometric maps and compare the results with a relaxation approach. Experimental results obtained in simulation and with real robots demonstrate the effectiveness of our approach in various indoor environments.