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Categorization of I...
Categorization of Indoor Places by Combining Local Binary Pattern Histograms of Range and Reflectance Data from Laser Range Finders
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- Martinez Mozos, Oscar, 1974- (författare)
- School of Computer Science, University of Lincoln, Lincoln, England
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- Mizutani, Hitoshi (författare)
- Faculty of Information Science and Electrical Engineering, Kyushu University, Fukuoka, Japan
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- Jung, Hojung (författare)
- Faculty of Information Science and Electrical Engineering, Kyushu University, Fukuoka, Japan
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- Kurazume, Ryo (författare)
- Faculty of Information Science and Electrical Engineering, Kyushu University, Fukuoka, Japan
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- Hasegawa, Tsutomu (författare)
- Kumamoto National College of Technology, Kumamoto, Japan
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(creator_code:org_t)
- Taylor & Francis, 2013
- 2013
- Engelska.
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Ingår i: Advanced Robotics. - : Taylor & Francis. - 0169-1864 .- 1568-5535. ; 27:18, s. 1455-1464
- Relaterad länk:
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http://eprints.linco...
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https://urn.kb.se/re...
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- This paper presents an approach to categorize typical places in indoor environments using 3D scans provided by a laser range finder. Examples of such places are offices, laboratories, or kitchens. In our method, we combine the range and reflectance data from the laser scan for the final categorization of places. Range and reflectance images are transformed into histograms of local binary patterns and combined into a single feature vector. This vector is later classified using support vector machines. The results of the presented experiments demonstrate the capability of our technique to categorize indoor places with high accuracy. We also show that the combination of range and reflectance information improves the final categorization results in comparison with a single modality.
Ämnesord
- NATURVETENSKAP -- Data- och informationsvetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences (hsv//eng)
Nyckelord
- place categorization
- laser scanner
- range image
- reflectance image
Publikations- och innehållstyp
- ref (ämneskategori)
- art (ämneskategori)
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