A Probabilistic Approach for Semantic Classification Using Laser Range Data in Indoor Environments

Kaleci B., Senler C. M., Dutağacı H., Parlaktuna O.

International Conference on Advanced Robotics (ICAR), İstanbul, Turkey, 27 - 31 July 2015, pp.375-381 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Volume:
  • Doi Number: 10.1109/icar.2015.7251483
  • City: İstanbul
  • Country: Turkey
  • Page Numbers: pp.375-381
  • Keywords: semantic classification, laser range data, door detection, PLACES, MAPS
  • Eskisehir Osmangazi University Affiliated: Yes


In this paper, a probabilistic approach is proposed for semantic classification in indoor environments using laser range data. Robot locations in indoor environments are categorized into three broad classes as room, corridor, and door. K-means and Learning Vector Quantization (LVQ) methods are used to classify robot positions. Circular shifting is applied to render laser range data independent of robot pose. K-means or LVQ algorithms are used to determine data clusters and their centers. In K-means method, the cluster centers are modelled with the proposed probabilistic approach to consider the semantic class of robot location. On the other hand, LVQ method inherently provides semantic classes of the cluster centers. In order to improve the rate of classification success, Markov model is integrated into the proposed approach. Experiments are conducted to demonstrate the effectiveness of the proposed approach. The results indicate that K-means method successfully classifies rooms and corridors, but door classification success rate is not satisfactory. LVQ method improves door classification rate without decreasing the classification rate of corridor and room. Lastly, effectiveness of the Markov model is discussed.