Martinez Mozos, Oscar, Stachniss, Cyrill and Burgard, Wolfram (2005) Supervised learning of places from range data using AdaBoost. In: IEEE International Conference on Robotics and Automation (ICRA), 18-22 April 2005, Barcelona.
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Item Type: | Conference or Workshop contribution (Paper) |
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Item Status: | Live Archive |
Abstract
This paper addresses the problem of classifying places in the environment of a mobile robot into semantic categories. We believe that semantic information about the type of place improves the capabilities of a mobile robot in various domains including localization, path-planning, or human-robot interaction. Our approach uses AdaBoost, a supervised learning algorithm, to train a set of classifiers for place recognition based on laser range data. In this paper we describe how this approach can be applied to distinguish between rooms, corridors, doorways, and hallways. Experimental results obtained in simulation and with real robots demonstrate the effectiveness of our approach in various environments.
Additional Information: | Finalist to the Best Student Paper |
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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: | 9587 |
Deposited On: | 22 May 2013 13:42 |
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