A New Method for Classifying Scenes for Simultaneous Localization and Mapping Using the Boundary Object Function Descriptor on RGB-D Points

• Published in: Sensors (Basel, Switzerland) Vol. 23; no. 21; p. 8836
• Main Authors: Lomas-Barrie, Victor, Suarez-Espinoza, Mario, Hernandez-Chavez, Gerardo, Neme, Antonio
• Format: Journal Article
• Language: English
• Published: Basel MDPI AG 30.10.2023
• Subjects: Accuracy; Algorithms; bag of visual words; boundary object functions; Cameras; Classification; Datasets; Deep learning; Localization; loop closing; Methods; Neural networks; RGB-D; Robotics; Robots; scene classification for SLAM; Semantics; SVM; United States; Mexico

Scene classification in autonomous navigation is a highly complex task due to variations, such as light conditions and dynamic objects, in the inspected scenes; it is also a challenge for small-factor computers to run modern and highly demanding algorithms. In this contribution, we introduce a novel...