Categorization of indoor places using the Kinect sensor

Oscar Martinez Mozos, Hitoshi Mizutani, Ryo Kurazume, Tsutomu Hasegawa

Research output: Contribution to journalArticlepeer-review

46 Citations (Scopus)


The categorization of places in indoor environments is an important capability for service robots working and interacting with humans. In this paper we present a method to categorize different areas in indoor environments using a mobile robot equipped with a Kinect camera. Our approach transforms depth and grey scale images taken at each place into histograms of local binary patterns (LBPs) whose dimensionality is further reduced following a uniform criterion. The histograms are then combined into a single feature vector which is categorized using a supervised method. In this work we compare the performance of support vector machines and random forests as supervised classifiers. Finally, we apply our technique to distinguish five different place categories: Corridors, laboratories, offices, kitchens, and study rooms. Experimental results show that we can categorize these places with high accuracy using our approach.

Original languageEnglish
Pages (from-to)6695-6711
Number of pages17
JournalSensors (Switzerland)
Issue number5
Publication statusPublished - May 2012

All Science Journal Classification (ASJC) codes

  • Analytical Chemistry
  • Atomic and Molecular Physics, and Optics
  • Biochemistry
  • Instrumentation
  • Electrical and Electronic Engineering


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