Abstract
Environment perception is one of the most challenging and underlying task which allows a mobile robot to perceive obstacles, landmarks and extract useful information to navigate safely. In this sense, classification techniques applied to sensor data may enhance the way mobile robots sense their surroundings. Amongst several techniques to classify data and to extract relevant information from the environment, Support Vector Machines (SVM) have demonstrated promising results, being used in several practical approaches. This chapter presents the core theory of SVM, and applications in two different scopes: using Lidar (Light Detection and Ranging) to label specific places, and vision-based human detection aided by Lidar.
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Araújo, R., Nunes, U., Oliveira, L., Sousa, P., Peixoto, P. (2008). Support Vector Machines and Features for Environment Perception in Mobile Robotics. In: Jain, L.C., Sato-Ilic, M., Virvou, M., Tsihrintzis, G.A., Balas, V.E., Abeynayake, C. (eds) Computational Intelligence Paradigms. Studies in Computational Intelligence, vol 137. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-79474-5_11
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DOI: https://doi.org/10.1007/978-3-540-79474-5_11
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