Laser Range Data Based Semantic Labeling of Places

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dc.contributor.author Kodagoda, Sarath en_US
dc.contributor.author Dissanayake, Gamini en_US
dc.contributor.author Shi, Leo en_US
dc.contributor.editor Ren C. Luo, Hajime Asama en_US
dc.date.accessioned 2012-02-02T11:08:20Z
dc.date.available 2012-02-02T11:08:20Z
dc.date.issued 2010 en_US
dc.identifier 2010000411 en_US
dc.identifier.citation Shi Lei, Kodagoda Sarath, and Dissanayake Gamini 2010, 'Laser Range Data Based Semantic Labeling of Places', , IEEE, Taipei, Taiwan, , pp. 5941-5946. en_US
dc.identifier.issn 978-1-4244-6676-4 en_US
dc.identifier.other E1 en_US
dc.identifier.uri http://hdl.handle.net/10453/16319
dc.description.abstract Extending metric space representations of an environment with other high level information, such as semantic and topological representations enable a robotic device to efficiently operate in complex environments. This paper proposes a methodology for a robot to classify indoor environments into semantic categories. Classification task, using data collected from a laser range finder, is achieved by a machine learning approach based on the logistic regression algorithm. The classification is followed by a probabilistic temporal update of the semantic labels of places. The innovation here is that the new algorithm is able to classify parts of a single laser scan into different semantic labels rather than the conventional approach of gross categorization of locations based on the whole laser scan. We demonstrate the effectiveness of the algorithm using a data set available in the public domain. en_US
dc.language en_US
dc.publisher IEEE en_US
dc.relation.hasversion Accepted manuscript version
dc.relation.isbasedon http://dx.doi.org/10.1109/IROS.2010.5650387 en_US
dc.title Laser Range Data Based Semantic Labeling of Places en_US
dc.parent Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems en_US
dc.journal.volume en_US
dc.journal.number en_US
dc.publocation Taipei, Taiwan en_US
dc.identifier.startpage 5941 en_US
dc.identifier.endpage 5946 en_US
dc.cauo.name FEIT.School of Elec, Mech and Mechatronic Systems en_US
dc.conference Verified OK en_US
dc.for 090602 en_US
dc.personcode 040387 en_US
dc.personcode 011224 en_US
dc.personcode 110705 en_US
dc.percentage 100 en_US
dc.classification.name Control Systems, Robotics and Automation en_US
dc.classification.type FOR-08 en_US
dc.edition en_US
dc.custom IEEE/RSJ International Conference on Intelligent Robots and Systems en_US
dc.date.activity 20101018 en_US
dc.location.activity Taipei, Taiwan en_US
dc.description.keywords NA en_US
dc.staffid en_US
dc.staffid 011224 en_US


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