Local N-ary patterns: a local multi-modal descriptor for place categorization

Jung, Hojung and Martinez Mozos, Oscar and Iwashita, Yumi and Kurazume, Ryo (2016) Local N-ary patterns: a local multi-modal descriptor for place categorization. Advanced Robotics, 30 (6). pp. 402-415. ISSN 0169-1864

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Item Type:Article
Item Status:Live Archive

Abstract

This paper presents an effective integration method of multiple modalities such as depth, color, and reflectance for place categorization. To achieve better performance with integrated multi-modalities, we introduce a novel descriptor, local N-ary patterns (LTP), which can perform robust discrimination of place categorization. In this paper, the LNP descriptor is applied to a combination of two modalities, i.e. depth and reflectance, provided by a laser range finder. However, the LNP descriptor can be easily extended to a larger number of modalities. The proposed LNP describes relationships between the multi-modal values of pixels and their neighboring pixels. Since we consider the multi-modal relationship, our proposed method clearly demonstrates more effective classification results than using individual modalities. We carried out experiments with the Kyushu University Indoor Semantic Place Dataset, which is publicly available. This data-set is composed of five indoor categories: corridors, kitchens, laboratories, study rooms, and offices. We confirmed that our proposed method outperforms previous uni-modal descriptors.

Keywords:Local N-ary patterns, Place categorization, Laser range finder, Reflectance image, Depth image
Subjects:G Mathematical and Computer Sciences > G400 Computer Science
G Mathematical and Computer Sciences > G740 Computer Vision
Divisions:College of Science > School of Computer Science
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ID Code:27931
Deposited On:30 Nov 2017 14:41

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