{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:59:03Z","timestamp":1777715943209,"version":"3.51.4"},"reference-count":63,"publisher":"SAGE Publications","issue":"2-3","license":[{"start":{"date-parts":[[2009,12,4]],"date-time":"2009-12-04T00:00:00Z","timestamp":1259884800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2010,2]]},"abstract":"<jats:p>The ability to represent knowledge about space and its position therein is crucial for a mobile robot. To this end, topological and semantic descriptions are gaining popularity for augmenting purely metric space representations. In this paper we present a multi-modal place classification system that allows a mobile robot to identify places and recognize semantic categories in an indoor environment. The system effectively utilizes information from different robotic sensors by fusing multiple visual cues and laser range data. This is achieved using a high-level cue integration scheme based on a Support Vector Machine (SVM) that learns how to optimally combine and weight each cue. Our multi-modal place classification approach can be used to obtain a real-time semantic space labeling system which integrates information over time and space. We perform an extensive experimental evaluation of the method for two different platforms and environments, on a realistic off-line database and in a live experiment on an autonomous robot. The results clearly demonstrate the effectiveness of our cue integration scheme and its value for robust place classification under varying conditions.<\/jats:p>","DOI":"10.1177\/0278364909356483","type":"journal-article","created":{"date-parts":[[2009,12,4]],"date-time":"2009-12-04T22:08:09Z","timestamp":1259964489000},"page":"298-320","source":"Crossref","is-referenced-by-count":115,"title":["Multi-modal Semantic Place Classification"],"prefix":"10.1177","volume":"29","author":[{"given":"A.","family":"Pronobis","sequence":"first","affiliation":[{"name":"Centre for Autonomous Systems, Royal Institute of Technology, SE-100 44 Stockholm, Sweden,"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"O.","family":"Mart\u00ednez Mozos","sequence":"additional","affiliation":[{"name":"Department of Computer Science, University of Freiburg, D-79110, Freiburg, Germany,"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"B.","family":"Caputo","sequence":"additional","affiliation":[{"name":"Idiap Research Institute, CH-1920 Martigny, Switzerland,"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"P.","family":"Jensfelt","sequence":"additional","affiliation":[{"name":"Centre for Autonomous Systems, Royal Institute of Technology, SE-100 44 Stockholm, Sweden,"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2009,12,4]]},"reference":[{"key":"atypb1","volume-title":"Integration of Visual Modules: an Extension of the Marr Paradigm","author":"Aloimonos, J.","year":"1989"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1163\/156855303769157009"},{"key":"atypb3","volume-title":"Proceedings of the International Conference on Robotics and Automation (ICRA)","author":"Andreasson, H."},{"key":"atypb4","volume-title":"Proceedings of the International Conference on Image Processing (ICIP)","author":"Barla, A."},{"key":"atypb5","volume-title":"Proceedings of the 9th European Conference on Computer Vision (ECCV)","author":"Bay, H."},{"key":"atypb6","volume-title":"Proceedings of the International Conference on Robotics and Automation (ICRA)","author":"Blaer, P."},{"key":"atypb7","volume-title":"Proceedings of the International Conference on Intelligent Robots and Systems (IROS)","author":"Bradley, D.M."},{"key":"atypb8","volume-title":"Proceedings of the International Conference on Intelligent Robots and Systems (IROS)","author":"Buschka, P."},{"key":"atypb9","volume-title":"Neural Information Processing Systems","author":"Caputo, B."},{"key":"atypb10","doi-asserted-by":"publisher","DOI":"10.1109\/72.788646"},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4757-2076-1"},{"key":"atypb12","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511801389"},{"key":"atypb13","first-page":"1","volume":"7","author":"Dem\u0161ar, J.","year":"2006","journal-title":"Journal of Machine Learning Research"},{"key":"atypb14","volume-title":"Proceedings of the International Conference on Intelligent Robots and Systems (IROS)","author":"Douillard, B."},{"key":"atypb15","volume-title":"Pattern Classification","author":"Duda, R.","year":"2001","edition":"2"},{"key":"atypb16","volume-title":"Proceedings of the International Conference on Robotics and Automation (ICRA)","author":"Filliat, D."},{"key":"atypb17","volume-title":"Proceedings of the International Conference on Intelligent Robots and Systems (IROS)","author":"Fraundorfer, F."},{"key":"atypb18","volume-title":"Proceedings of the European Conference on Computational Learning Theory","author":"Freund, Y."},{"key":"atypb19","volume-title":"Proceedings of the International Conference on Intelligent Robots and Systems (IROS)","author":"Galindo, C."},{"key":"atypb20","doi-asserted-by":"publisher","DOI":"10.1109\/70.897802"},{"key":"atypb21","unstructured":"Koenig, S. and Simmons, R.G. 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