クラッタースライスによる屋内空間のオンザフライ識別手法
Clutter Slices Approach for Identification-on-the-fly of Indoor Spaces
屋内空間に特有の「散らかり（クラッター）」の特徴をスライス状に解析し、廊下や階段などをその場で分類するセンサ非依存の手法を提案した論文。
著者: Upinder Kaur, Praveen Abbaraju, Harrison McCarty, Richard M. Voyles
分類: cs.RO, cs.CV
原文アブストラクト
Construction spaces are constantly evolving, dynamic environments in need of continuous surveying, inspection, and assessment. Traditional manual inspection of such spaces proves to be an arduous and time-consuming activity. Automation using robotic agents can be an effective solution. Robots, with perception capabilities can autonomously classify and survey indoor construction spaces. In this paper, we present a novel identification-on-the-fly approach for coarse classification of indoor spaces using the unique signature of clutter. Using the context granted by clutter, we recognize common indoor spaces such as corridors, staircases, shared spaces, and restrooms. The proposed clutter slices pipeline achieves a maximum accuracy of 93.6% on the presented clutter slices dataset. This sensor independent approach can be generalized to various domains to equip intelligent autonomous agents in better perceiving their environment.
