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このアイテムの引用には次の識別子を使用してください:
http://hdl.handle.net/10119/17588
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| タイトル: | A Novel Room Categorization Approach to Semantic Localization for Domestic Service Robots |
| 著者: | Setiono, Felix Yustian
Elibol, Armagan
Chong, Nak-Young |
| キーワード: | simultaneous localization and mapping
semantic localization
room categorization
object detection
objectroom information sharing |
| 発行日: | 2021-10 |
| 出版者: | Institute of Electrical and Electronics Engineers (IEEE) |
| 誌名: | 2021 21st International Conference on Control, Automation and Systems (ICCAS 2021) |
| 開始ページ: | 1166 |
| 終了ページ: | 1171 |
| DOI: | 10.23919/ICCAS52745.2021.9650023 |
| 抄録: | 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 |
| 資料タイプ: | author |
| 出現コレクション: | b11-1. 会議発表論文・発表資料 (Conference Papers)
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このアイテムのファイル:
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記述 |
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| ICCAS_2021_Felix.pdf | | 417Kb | Adobe PDF | 見る/開く |
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