Instace-Based AMN Classification for Improved Object Recognition in 2D and 3D Laser Range Data

Triebel, Rudolph; Schmidt, Richard; Mozos, Óscar Martínez; Burgard, Wolfram

Instace-Based AMN Classification for Improved Object Recognition in 2D and 3D Laser Range Data

Rudolph Triebel, Richard Schmidt, Óscar Martínez Mozos, Wolfram Burgard

Download BibTeX Cite

Proceedings of the Twentieth International Joint Conference on Artificial Intelligence. Pages 2225-2229.

Abstract

In this paper, we present an algorithm to identify different types of objects from 2D and 3D laser range data. Our method is a combination of an instance-based feature extraction similar to the Nearest-Neighbor classifier (NN) and a collective classification method that utilizes associative Markov networks (AMNs). Compared to previous approaches, we transform the feature vectors so that they are better separable by linear hyper-planes, which are learned by the AMN classifier. We present results of extensive experiments in which we evaluate the performance of our algorithm on several recorded indoor scenes and compare it to the standard AMN approach as well as the NN classifier. The classification rate obtained with our algorithm substantially exceeds those of the AMN and the NN.

Rudolph Triebel, Richard Schmidt, Óscar Martínez Mozos, and Wolfram Burgard. 2007. Instace-Based AMN Classification for Improved Object Recognition in 2D and 3D Laser Range Data. In Proceedings of the Twentieth International Joint Conference on Artificial Intelligence, IJCAI-07. IJCAI, 2225–2229. https://ijcai.org/proceedings/2007/358

@inproceedings{ijcai2007p358,
  title     = {Instace-Based AMN Classification for Improved Object Recognition in 2D and 3D Laser Range Data},
  author    = {Triebel, Rudolph and Schmidt, Richard and Mozos, Óscar Martínez and Burgard, Wolfram},
  booktitle = {Proceedings of the Twentieth International Joint Conference on
               Artificial Intelligence, {IJCAI-07}},
  publisher = {International Joint Conferences on Artificial Intelligence},
  editor    = {Ramon López de Mántaras},
  pages     = {2225--2229},
  year      = {2007},
  url       = {https://ijcai.org/proceedings/2007/358},
}

TY  - CPAPER
TI  - Instace-Based AMN Classification for Improved Object Recognition in 2D and 3D Laser Range Data
AU  - Triebel, Rudolph
AU  - Schmidt, Richard
AU  - Mozos, Óscar Martínez
AU  - Burgard, Wolfram
T2  - Proceedings of the Twentieth International Joint Conference on Artificial Intelligence, IJCAI-07
PB  - International Joint Conferences on Artificial Intelligence
PY  - 2007
SP  - 2225
EP  - 2229
UR  - https://ijcai.org/proceedings/2007/358
ER  -