Predicting what lies ahead in the topology of indoor environments
2012 (English)In: Spatial Cognition VIII: International Conference, Spatial Cognition 2012, Kloster Seeon, Germany, August 31 – September 3, 2012. Proceedings / [ed] Cyrill Stachniss, Kerstin Schill, David Uttal, Springer, 2012, 1-16 p.Conference paper (Refereed)
A significant amount of research in robotics is aimed towards building robots that operate indoors yet there exists little analysis of how human spaces are organized. In this work we analyze the properties of indoor environments from a large annotated floorplan dataset. We analyze a corpus of 567 floors, 6426 spaces with 91 room types and 8446 connections between rooms corresponding to real places. We present a system that, given a partial graph, predicts the rest of the topology by building a model from this dataset. Our hypothesis is that indoor topologies consists of multiple smaller functional parts. We demonstrate the applicability of our approach with experimental results. We expect that our analysis paves the way for more data driven research on indoor environments.
Place, publisher, year, edition, pages
Springer, 2012. 1-16 p.
, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), ISSN 0302-9743 ; 7463 LNAI
Data driven, Data sets, Floorplans, Functional parts, Indoor environment, Artificial intelligence, Topology
IdentifiersURN: urn:nbn:se:kth:diva-107326DOI: 10.1007/978-3-642-32732-2_1ScopusID: 2-s2.0-84868223759ISBN: 978-364232731-5OAI: oai:DiVA.org:kth-107326DiVA: diva2:576032
International Conference on Spatial Cognition, SC 2012, 31 August 2012 through 3 September 2012, Kloster Seeon
FunderICT - The Next Generation
QC 201212122012-12-122012-12-102013-04-11Bibliographically approved