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Semi-supervised semantic labeling of adaptive cell decomposition maps in well-structured environments
2015
2015 European Conference on Mobile Robots (ECMR)
We present a semi-supervised approach for semantic mapping, by introducing human knowledge after unsupervised place categorization has been combined with an adaptive cell decomposition of an occupancy map. Place categorization is based on clustering features extracted from raycasting in the occupancy map. The cell decomposition is provided by work we published previously, which is effective for the maps that could be abstracted by straight lines. Compared to related methods, our approach
doi:10.1109/ecmr.2015.7324207
dblp:conf/ecmr/ShahbandiAP15
fatcat:4di5niskbvhkpkowiaaicnns7i