Supervised learning of places from range data using adaboost

Martinez Mozos, Oscar (2005) Supervised learning of places from range data using adaboost. Masters thesis, University of Freiburg, Germany.

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Item Type:Thesis (Masters)
Item Status:Live Archive

Abstract

In the past, several researchers focused on building accurate metric or topological maps out of sensor data. The majority of approaches present solutions to simultaneous localization and mapping but only a few works try to acquire semantic information autonomously. In this work we address the problem of classifying places in environments into semantic classes based on range data only. We use a supervised learning algorithm to train a set of classifiers based on the Adaboost algorithm. Using our classification system, a mobile robot is able to distinguish different places like rooms, corridors, doorways, and hallways.

Keywords:mobile robotics
Subjects:G Mathematical and Computer Sciences > G700 Artificial Intelligence
G Mathematical and Computer Sciences > G760 Machine Learning
H Engineering > H671 Robotics
Divisions:College of Science > School of Computer Science
ID Code:9589
Deposited On:20 May 2013 17:08

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