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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/17588

Title: A Novel Room Categorization Approach to Semantic Localization for Domestic Service Robots
Authors: Setiono, Felix Yustian
Elibol, Armagan
Chong, Nak-Young
Keywords: simultaneous localization and mapping
semantic localization
room categorization
object detection
objectroom information sharing
Issue Date: 2021-10
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Magazine name: 2021 21st International Conference on Control, Automation and Systems (ICCAS 2021)
Start page: 1166
End page: 1171
DOI: 10.23919/ICCAS52745.2021.9650023
Abstract: Recently, room categorization as part of indoor robot localization has become a vital topic for semantic mapping. One approach is implemented via scene understanding by integrating available object information in the scene. In this paper, a novel room association approach is proposed based on the prior knowledge of the object appearance frequency in the specific room category inside the house. The front interface of the proposed technique employs a state-of-the-art YOLOv2-based object detection framework. Detected objects and their prior appearance frequency information form the input to the proposed room association through a novel scoring approach. This scoring function avoids any limit on the number of detected objects and is capable of operating with a low object detection confidence level. The experimental results of the novel proposed technique show significant improvement over the previously developed room categorization approach. On average, the correctness score increased up to 0.8387 while the indecisiveness level of the object detection framework decreases.
Rights: This is the author's version of the work. Copyright (C) 2021 IEEE. 2021 21st International Conference on Control, Automation and Systems (ICCAS 2021), 2021, pp.1166-1171. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
URI: http://hdl.handle.net/10119/17588
Material Type: author
Appears in Collections:b11-1. 会議発表論文・発表資料 (Conference Papers)

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