{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T04:10:39Z","timestamp":1760242239800,"version":"build-2065373602"},"reference-count":36,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2017,1,29]],"date-time":"2017-01-29T00:00:00Z","timestamp":1485648000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In this work, a system is developed for semantic labeling of locations based on what people do. This system is useful for semantic navigation of mobile robots. The system differentiates environments according to what people do in them. Background sound, number of people in a room and amount of movement of those people are items to be considered when trying to tell if people are doing different actions. These data are sampled, and it is assumed that people behave differently and perform different actions. A support vector machine is trained with the obtained samples, and therefore, it allows one to identify the room. Finally, the results are discussed and support the hypothesis that the proposed system can help to semantically label a room.<\/jats:p>","DOI":"10.3390\/s17020260","type":"journal-article","created":{"date-parts":[[2017,1,30]],"date-time":"2017-01-30T11:36:30Z","timestamp":1485776190000},"page":"260","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["A Semantic Labeling of the Environment Based on What People Do"],"prefix":"10.3390","volume":"17","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1458-7167","authenticated-orcid":false,"given":"Jonathan","family":"Crespo","sequence":"first","affiliation":[{"name":"Department of Systems Engineering and Automation, University Carlos III of Madrid, 28911, Spain"}]},{"given":"Clara","family":"G\u00f3mez","sequence":"additional","affiliation":[{"name":"Department of Systems Engineering and Automation, University Carlos III of Madrid, 28911, Spain"}]},{"given":"Alejandra","family":"Hern\u00e1ndez","sequence":"additional","affiliation":[{"name":"Department of Systems Engineering and Automation, University Carlos III of Madrid, 28911, Spain"}]},{"given":"Ram\u00f3n","family":"Barber","sequence":"additional","affiliation":[{"name":"Department of Systems Engineering and Automation, University Carlos III of Madrid, 28911, Spain"}]}],"member":"1968","published-online":{"date-parts":[[2017,1,29]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"173","DOI":"10.1016\/j.engappai.2015.11.004","article-title":"Robot navigation via spatial and temporal coherent semantic maps","volume":"48","author":"Kostavelis","year":"2016","journal-title":"Eng. Appl. Artif. Intell."},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Zhao, Z., and Chen, X. (2014, January 14\u201318). Semantic mapping for object category and structural class. Proceedings of the 2014 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Chicago, IL, USA.","DOI":"10.1109\/IROS.2014.6942638"},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Luperto, M., D\u2019Emilio, L., and Amigoni, F. (October, January 28). A generative spectral model for semantic mapping of buildings. Proceedings of the 2015 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany.","DOI":"10.1109\/IROS.2015.7354009"},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Herrero, J.C., Castano, R.I.B., and Mozos, O.M. (2015, January 8\u201310). An inferring semantic system based on relational models for mobile robotics. Proceedings of the 2015 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), Vila Real, Portugal.","DOI":"10.1109\/ICARSC.2015.22"},{"key":"ref_5","doi-asserted-by":"crossref","unstructured":"Pronobis, A., and Jensfelt, P. (2012, January 14\u201318). Large-scale semantic mapping and reasoning with heterogeneous modalities. Proceedings of the 2012 IEEE International Conference on Robotics and Automation (ICRA), St. Paul, MN, USA.","DOI":"10.1109\/ICRA.2012.6224637"},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"1460","DOI":"10.1016\/j.robot.2013.07.008","article-title":"Learning spatially semantic representations for cognitive robot navigation","volume":"61","author":"Kostavelis","year":"2013","journal-title":"Robot. Auton. Syst."},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Drouilly, R., Rives, P., and Morisset, B. (2015, January 26\u201330). Semantic Representation for Navigation in Large-Scale Environments. Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA 2015), Seattle, WA, USA.","DOI":"10.1109\/ICRA.2015.7139314"},{"key":"ref_8","unstructured":"Polastro, R., Corr\u00eaa, F., Cozman, F., and Okamoto, J. (2010). Advances in Artificial Intelligence\u2014SBIA 2010, Springer."},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Cleveland, J., Thakur, D., Dames, P., Phillips, C., Kientz, T., Daniilidis, K., Bergstrom, J., and Kumar, V. (2015, January 24\u201328). An automated system for semantic object labeling with soft object recognition and dynamic programming segmentation. Proceedings of the 2015 IEEE International Conference on Automation Science and Engineering (CASE), Gothenburg, Sweden.","DOI":"10.1109\/CoASE.2015.7294159"},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Rituerto, J., Murillo, A.C., and Ko\u0161ecka, J. (2011, January 25\u201330). Label propagation in videos indoors with an incremental non-parametric model update. Proceedings of the 2011 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, CA, USA.","DOI":"10.1109\/IROS.2011.6094997"},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Shi, L., Kodagoda, S., and Dissanayake, G. (2010, January 7\u201310). Multi-class classification for semantic labeling of places. Proceedings of the 2010 11th International Conference on Control Automation Robotics & Vision (ICARCV), Singapore.","DOI":"10.1109\/ICARCV.2010.5707856"},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Shi, W., and Samarabandu, J. (2006, January 15\u201317). Investigating the performance of corridor and door detection algorithms in different environments. Proceedings of the 2006 IEEE International Conference on Information and Automation (ICIA 2006), Colombo, Sri Lanka.","DOI":"10.1109\/ICINFA.2006.374113"},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Viswanathan, P., Meger, D., Southey, T., Little, J.J., and Mackworth, A.K. (2009, January 25\u201327). Automated spatial-semantic modeling with applications to place labeling and informed search. Proceedings of the Canadian Conference on Computer and Robot Vision, Kelowna, BC, Canada.","DOI":"10.1109\/CRV.2009.49"},{"key":"ref_14","unstructured":"Mozos, O.M., Stachniss, C., and Burgard, W. (2005, January 18\u201322). Supervised learning of places from range data using adaboost. Proceedings of the 2005 IEEE International Conference on Robotics and Automation (ICRA 2005), Barcelona, Spain."},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"Sousa, P., Ara\u00fajo, R., and Nunes, U. (2007, January 4\u20137). Real-time labeling of places using support vector machines. Proceedings of the IEEE International Symposium on Industrial Electronics (ISIE 2007), Vigo, Spain.","DOI":"10.1109\/ISIE.2007.4374918"},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"298","DOI":"10.1177\/0278364909356483","article-title":"Multi-modal Semantic Place Classification","volume":"29","author":"Pronobis","year":"2010","journal-title":"Int. J. Robot. Res."},{"key":"ref_17","unstructured":"Althaus, P., and Christensen, H.I. (October, January 30). Behaviour coordination for navigation in office environments. Proceedings of the 2002 IEEE\/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"683","DOI":"10.1162\/neco.1997.9.3.683","article-title":"A Mobile Robot That Learns Its Place","volume":"9","author":"Oore","year":"1997","journal-title":"Neural Comput."},{"key":"ref_19","unstructured":"Khan, S., Bennamoun, M., Sohel, F., and Togneri, R. (2014). European Conference on Computer Vision, Springer."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"5","DOI":"10.1177\/0278364911434148","article-title":"RGB-D mapping: Using Kinect-style depth cameras for dense 3D modeling of indoor environments","volume":"31","author":"Henry","year":"2012","journal-title":"Int. J. Robot. Res."},{"key":"ref_21","unstructured":"Rottmann, A., Mozos, O.M., Stachniss, C., and Burgard, W. (2005, January 9\u201313). Semantic place classification of indoor environments with mobile robots using boosting. Proceedings of the 20th National Conference on Artificial Intelligence (AAAI), Pittsburgh, PA, USA."},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"27","DOI":"10.1016\/j.sigpro.2015.10.036","article-title":"Real-time people counting for indoor scenes","volume":"124","author":"Luo","year":"2016","journal-title":"Signal Process."},{"key":"ref_23","first-page":"433","article-title":"Leg detection and tracking for a mobile robot and based on a laser device, supervised learning and particle filtering","volume":"Volume 252","author":"Armada","year":"2014","journal-title":"ROBOT2013: First Iberian Robotics Conference"},{"key":"ref_24","doi-asserted-by":"crossref","unstructured":"Chang, P.S., Ning, A., Lambert, M.G., and Haas, W.J. (2002). Acoustic Source Location Using a Microphone Array. (6,469,732), U.S. Patent.","DOI":"10.1121\/1.1588801"},{"key":"ref_25","unstructured":"Svaizer, P., Matassoni, M., and Omologo, M. (1997, January 21\u201324). Acoustic source location in a three-dimensional space using crosspower spectrum phase. Proceedings of the 1997 IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP-97), Munich, Germany."},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"45","DOI":"10.1109\/89.554268","article-title":"A closed-form location estimator for use with room environment microphone arrays","volume":"5","author":"Brandstein","year":"1997","journal-title":"IEEE Trans. Speech Audio Process."},{"key":"ref_27","doi-asserted-by":"crossref","unstructured":"Perez, M.S., and Carrera, E.V. (2014, January 5\u20137). Acoustic event localization on an Arduino-based wireless sensor network. Proceedings of the 2014 IEEE Latin-America Conference on Communications (LATINCOM), Cartagena, Colombia.","DOI":"10.1109\/LATINCOM.2014.7041861"},{"key":"ref_28","unstructured":"Stiefelhagen, R., F\u00fcgen, C., Gieselmann, P., Holzapfel, H., Nickel, K., and Waibel, A. (October, January 28). Natural human-robot interaction using speech, head pose and gestures. Proceedings of the 2004 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS 2004), Sendai, Japan."},{"key":"ref_29","unstructured":"Song, I., Guedea, F., Karray, F., Dai, Y., and El Khalil, I. (2004, January 2\u20134). Natural language interface for mobile robot navigation control. Proceedings of the 2004 IEEE International Symposium on Intelligent Control, Taipei, Taiwan."},{"key":"ref_30","unstructured":"Yamamoto, S., Valin, J.M., Nakadai, K., Rouat, J., Michaud, F., Ogata, T., and Okuno, H.G. (2005, January 18\u201322). Enhanced robot speech recognition based on microphone array source separation and missing feature theory. Proceedings of the 2005 IEEE International Conference on Robotics and Automation (ICRA 2005), Barcelona, Spain."},{"key":"ref_31","unstructured":"Zhou, B., Lapedriza, A., Xiao, J., Torralba, A., and Oliva, A. (2014). Advances in Neural Information Processing Systems 27 (NIPS 2014), Curran Associates, Inc."},{"key":"ref_32","doi-asserted-by":"crossref","unstructured":"Hayat, M., Khan, S., Bennamoun, M., and An, S. (2016). A spatial layout and scale invariant feature representation for indoor scene classification. arXiv.","DOI":"10.1109\/TIP.2016.2599292"},{"key":"ref_33","doi-asserted-by":"crossref","unstructured":"Lu, D.V., and Smart, W.D. (2013, January 3\u20137). Towards more efficient navigation for robots and humans. Proceedings of the 2013 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan.","DOI":"10.1109\/IROS.2013.6696579"},{"key":"ref_34","doi-asserted-by":"crossref","unstructured":"Arras, K.O., Mozos, S.M., and Burgard, W. (2007, January 10\u201314). Using boosted features for the detection of people in 2D range data. Proceedings of the 2007 IEEE International Conference on Robotics and Automation, Roma, Italy.","DOI":"10.1109\/ROBOT.2007.363998"},{"key":"ref_35","doi-asserted-by":"crossref","unstructured":"Nesaratnam, R., and Bala Murugan, C. (2015, January 19\u201320). Identifying leaf in a natural image using morphological characters. Proceedings of the 2015 International Conference on Innovations in Information, Embedded and Communication Systems (ICIIECS), Coimbatore, India.","DOI":"10.1109\/ICIIECS.2015.7193115"},{"key":"ref_36","doi-asserted-by":"crossref","unstructured":"Krig, S. (2014). Computer Vision Metrics: Survey, Taxonomy, and Analysis, Apress.","DOI":"10.1007\/978-1-4302-5930-5"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/17\/2\/260\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T18:27:12Z","timestamp":1760207232000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/17\/2\/260"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,1,29]]},"references-count":36,"journal-issue":{"issue":"2","published-online":{"date-parts":[[2017,2]]}},"alternative-id":["s17020260"],"URL":"https:\/\/doi.org\/10.3390\/s17020260","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2017,1,29]]}}}