Categorization of indoor places by combining local binary pattern histograms of range and reflectance data from laser range finders

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 categorizati...

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Bibliographic Details
Published inAdvanced robotics Vol. 27; no. 18; pp. 1455 - 1464
Main Authors Mozos, Oscar Martinez, Mizutani, Hitoshi, Jung, Hojung, Kurazume, Ryo, Hasegawa, Tsutomu
Format Journal Article
LanguageEnglish
Published Taylor & Francis 01.12.2013
Subjects
laser scanner
place categorization
range image
reflectance image
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Summary: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.
ISSN:0169-1864
1568-5535
1568-5535
DOI:10.1080/01691864.2013.839091