Some Room for GLVQ: Semantic Labeling of Occupancy Grid Maps

Sven Hellbach; Marian Himstedt; Frank Bahrmann; Martin Riedel; Thomas Villmann; Hans-Joachim Böhme

doi:10.1007/978-3-319-07695-9_13

Some Room for GLVQ: Semantic Labeling of Occupancy Grid Maps

Sven Hellbach, Marian Himstedt, Frank Bahrmann, Martin Riedel, Thomas Villmann, Hans-Joachim Böhme

Abstract

This paper aims at an approach for labeling places within a grid cell environment. For that we propose a method that is based on non-negative matrix factorization (NMF) to extract environment specific features from a given occupancy grid map. NMF also computes a description about where on the map these features need to be applied. We use this description after certain pre-processing steps as an input for generalized learning vector quantization (GLVQ) to achieve the classification or labeling of the grid cells. Our approach is evaluated on a standard data set from University of Freiburg, showing very promising results.

Original language	English
Title of host publication	Advances in Self-Organizing Maps and Learning Vector Quantization
Editors	Thomas Villmann, Frank-Michael Schleif, Marika Kaden, Mandy Lange
Number of pages	11
Place of Publication	Cham
Publisher	Springer International Publishing
Publication date	01.07.2014
Pages	133-143
ISBN (Print)	978-3-319-07694-2
ISBN (Electronic)	978-3-319-07695-9
DOIs	https://doi.org/10.1007/978-3-319-07695-9_13
Publication status	Published - 01.07.2014
Externally published	Yes
Event	Proceedings of the 10th International Workshop on Advances in Self-Organizing Maps and Learning Vector Quantization - Mittweida, Germany Duration: 02.07.2014 → 04.07.2014

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10.1007/978-3-319-07695-9_13

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Hellbach, S., Himstedt, M., Bahrmann, F., Riedel, M., Villmann, T., & Böhme, H-J. (2014). Some Room for GLVQ: Semantic Labeling of Occupancy Grid Maps. In T. Villmann, F-M. Schleif, M. Kaden, & M. Lange (Eds.), Advances in Self-Organizing Maps and Learning Vector Quantization (pp. 133-143). (Advances in Intelligent Systems and Computing). Springer International Publishing. https://doi.org/10.1007/978-3-319-07695-9_13

Hellbach, Sven ; Himstedt, Marian ; Bahrmann, Frank et al. / Some Room for GLVQ: Semantic Labeling of Occupancy Grid Maps. Advances in Self-Organizing Maps and Learning Vector Quantization. editor / Thomas Villmann ; Frank-Michael Schleif ; Marika Kaden ; Mandy Lange. Cham : Springer International Publishing, 2014. pp. 133-143 (Advances in Intelligent Systems and Computing).

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abstract = "This paper aims at an approach for labeling places within a grid cell environment. For that we propose a method that is based on non-negative matrix factorization (NMF) to extract environment specific features from a given occupancy grid map. NMF also computes a description about where on the map these features need to be applied. We use this description after certain pre-processing steps as an input for generalized learning vector quantization (GLVQ) to achieve the classification or labeling of the grid cells. Our approach is evaluated on a standard data set from University of Freiburg, showing very promising results.",

author = "Sven Hellbach and Marian Himstedt and Frank Bahrmann and Martin Riedel and Thomas Villmann and Hans-Joachim B{\"o}hme",

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booktitle = "Advances in Self-Organizing Maps and Learning Vector Quantization",

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Hellbach, S, Himstedt, M, Bahrmann, F, Riedel, M, Villmann, T & Böhme, H-J 2014, Some Room for GLVQ: Semantic Labeling of Occupancy Grid Maps. in T Villmann, F-M Schleif, M Kaden & M Lange (eds), Advances in Self-Organizing Maps and Learning Vector Quantization. Advances in Intelligent Systems and Computing, Springer International Publishing, Cham, pp. 133-143, Proceedings of the 10th International Workshop on Advances in Self-Organizing Maps and Learning Vector Quantization, Mittweida, Saxony, Germany, 02.07.14. https://doi.org/10.1007/978-3-319-07695-9_13

Some Room for GLVQ: Semantic Labeling of Occupancy Grid Maps. / Hellbach, Sven; Himstedt, Marian; Bahrmann, Frank et al.
Advances in Self-Organizing Maps and Learning Vector Quantization. ed. / Thomas Villmann; Frank-Michael Schleif; Marika Kaden; Mandy Lange. Cham: Springer International Publishing, 2014. p. 133-143 (Advances in Intelligent Systems and Computing).

Research output: Chapters in Books/Reports/Conference Proceedings › Conference contribution › peer-review

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Hellbach S, Himstedt M, Bahrmann F, Riedel M, Villmann T, Böhme H-J. Some Room for GLVQ: Semantic Labeling of Occupancy Grid Maps. In Villmann T, Schleif F-M, Kaden M, Lange M, editors, Advances in Self-Organizing Maps and Learning Vector Quantization. Cham: Springer International Publishing. 2014. p. 133-143. (Advances in Intelligent Systems and Computing). doi: 10.1007/978-3-319-07695-9_13

Some Room for GLVQ: Semantic Labeling of Occupancy Grid Maps

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