Room Categorization Based on a Hierarchical Representation of Space. (4th February 2013)
- Record Type:
- Journal Article
- Title:
- Room Categorization Based on a Hierarchical Representation of Space. (4th February 2013)
- Main Title:
- Room Categorization Based on a Hierarchical Representation of Space
- Authors:
- Uršič, Peter
Tabernik, Domen
Boben, Marko
Skočaj, Danijel
Leonardis, Aleš
Kristan, Matej - Abstract:
- For successful operation in real-world environments, a mobile robot requires an effective spatial model. The model should be compact, should possess large expressive power and should scale well with respect to the number of modelled categories. In this paper we propose a new compositional hierarchical representation of space that is based on learning statistically significant observations, in terms of the frequency of occurrence of various shapes in the environment. We have focused on a two-dimensional space, since many robots perceive their surroundings in two dimensions with the use of a laser range finder or sonar. We also propose a new low-level image descriptor, by which we demonstrate the performance of our representation in the context of a room categorization problem. Using only the lower layers of the hierarchy, we obtain state-of-the-art categorization results in two different experimental scenarios. We also present a large, freely available, dataset, which is intended for room categorization experiments based on data obtained with a laser range finder.
- Is Part Of:
- International journal of advanced robotic systems. Volume 10:Number 2(2013)
- Journal:
- International journal of advanced robotic systems
- Issue:
- Volume 10:Number 2(2013)
- Issue Display:
- Volume 10, Issue 2 (2013)
- Year:
- 2013
- Volume:
- 10
- Issue:
- 2
- Issue Sort Value:
- 2013-0010-0002-0000
- Page Start:
- Page End:
- Publication Date:
- 2013-02-04
- Subjects:
- Representation of Space -- Compositional Hierarchies -- Room Categorization -- Range Data
Robotics -- Periodicals
Robotics
Periodicals
629.892 - Journal URLs:
- http://arx.sagepub.com/ ↗
http://search.epnet.com/direct.asp?db=bch&jid=13CR&scope=site ↗
http://www.intechweb.org/journal.php?id=3 ↗
http://www.uk.sagepub.com/home.nav ↗ - DOI:
- 10.5772/55534 ↗
- Languages:
- English
- ISSNs:
- 1729-8806
- Deposit Type:
- Legaldeposit
- View Content:
- Available online (eLD content is only available in our Reading Rooms) ↗
- Physical Locations:
- British Library DSC - BLDSS-3PM
British Library HMNTS - ELD Digital store - Ingest File:
- 24516.xml