Autonomous Robots

, Volume 41, Issue 5, pp 1161–1172 | Cite as

Dynamic Bayesian network for semantic place classification in mobile robotics

  • Cristiano PremebidaEmail author
  • Diego R. Faria
  • Urbano Nunes


In this paper, the problem of semantic place categorization in mobile robotics is addressed by considering a time-based probabilistic approach called dynamic Bayesian mixture model (DBMM), which is an improved variation of the dynamic Bayesian network. More specifically, multi-class semantic classification is performed by a DBMM composed of a mixture of heterogeneous base classifiers, using geometrical features computed from 2D laserscanner data, where the sensor is mounted on-board a moving robot operating indoors. Besides its capability to combine different probabilistic classifiers, the DBMM approach also incorporates time-based (dynamic) inferences in the form of previous class-conditional probabilities and priors. Extensive experiments were carried out on publicly available benchmark datasets, highlighting the influence of the number of time-slices and the effect of additive smoothing on the classification performance of the proposed approach. Reported results, under different scenarios and conditions, show the effectiveness and competitive performance of the DBMM.


Semantic place recognition Dynamic Bayesian network Artificial intelligence 



This work was partially supported by the Portuguese Foundation for Science and Technology (FCT) and FEDER through COMPETE 2020 under grants RECI/EEI-AUT/0181/2012 (AMSHMI12) and UID/EEA/00048/2013.


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Copyright information

© Springer Science+Business Media New York 2016

Authors and Affiliations

  1. 1.Department of Electrical and Computer EngineeringUniversity of CoimbraCoimbraPortugal
  2. 2.Institute of Systems and RoboticsUniversity of CoimbraCoimbraPortugal
  3. 3.System Analytics Research InstituteAston UniversityBirminghamUK

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