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Categorization of Indoor Places Using the Kinect Sensor

1
Faculty of Information Science and Electrical Engineering, Kyushu University, 744 Motooka, Nishi-ku, Fukuoka 819-0395, Japan
2
Graduate School of Information Science and Electrical Engineering, Kyushu University, 744 Motooka, Nishi-ku, Fukuoka 819-0395, Japan
*
Author to whom correspondence should be addressed.
Sensors 2012, 12(5), 6695-6711; https://doi.org/10.3390/s120506695
Received: 14 March 2012 / Revised: 16 May 2012 / Accepted: 16 May 2012 / Published: 22 May 2012
(This article belongs to the Section Physical Sensors)
The categorization of places in indoor environments is an important capability for service robots working and interacting with humans. In this paper we present a method to categorize different areas in indoor environments using a mobile robot equipped with a Kinect camera. Our approach transforms depth and grey scale images taken at each place into histograms of local binary patterns (LBPs) whose dimensionality is further reduced following a uniform criterion. The histograms are then combined into a single feature vector which is categorized using a supervised method. In this work we compare the performance of support vector machines and random forests as supervised classifiers. Finally, we apply our technique to distinguish five different place categories: corridors, laboratories, offices, kitchens, and study rooms. Experimental results show that we can categorize these places with high accuracy using our approach. View Full-Text
Keywords: Kinect sensor; place categorization; service robots Kinect sensor; place categorization; service robots
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MDPI and ACS Style

Mozos, O.M.; Mizutani, H.; Kurazume, R.; Hasegawa, T. Categorization of Indoor Places Using the Kinect Sensor. Sensors 2012, 12, 6695-6711. https://doi.org/10.3390/s120506695

AMA Style

Mozos OM, Mizutani H, Kurazume R, Hasegawa T. Categorization of Indoor Places Using the Kinect Sensor. Sensors. 2012; 12(5):6695-6711. https://doi.org/10.3390/s120506695

Chicago/Turabian Style

Mozos, Oscar Martinez, Hitoshi Mizutani, Ryo Kurazume, and Tsutomu Hasegawa. 2012. "Categorization of Indoor Places Using the Kinect Sensor" Sensors 12, no. 5: 6695-6711. https://doi.org/10.3390/s120506695

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