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.
Highlights
An important capability for service robots working in indoor environments is their ability to categorize the different places where they are located
To integrate undefined pixels when calculating the local binary patterns (LBPs) transformation we propose to extend the range of resulting decimal values with the extra value 256 to represent these undefined cases
In the first experiment we study the performance of our approach when using histograms of reduced local binary patterns together with support vector machines
Summary
An important capability for service robots working in indoor environments is their ability to categorize the different places where they are located. Place categorization has many applications in service robots It is mainly used in semantic mapping, where acquired maps of the environment are Sensors 2012, 12 extended with information about the type of each place allowing high level conceptual representations of environments [1,2,3,4,5,6]. The labels assigned by the robot to the different places are usually the same that people would use to refer to those places such as office, kitchen, or laboratory. In this way the communication with humans is improved [12,13]
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