Knowing the semantic category of a robot's current position not only facilitates the robot's navigation, but also greatly improves its ability to serve human needs and to interpret the scene. Visual Place Categorization (VPC) is addressed in this dissertation, which refers to the problem of predicting the semantic category of a place using visual information collected from an autonomous robot platform. Census Transform (CT) histogram and Histogram Intersection Kernel (HIK) based visual codebooks are proposed to represent an image. CT histogram encodes the stable spatial structure of an image that reflects the functionality of a location. It is suitable for categorizing places and has shown better performance than commonly used descriptors such as SIFT or Gist in the VPC task. HIK has been shown to work better than the Euclidean distance in classifying histograms. We extend it in an unsupervised manner to generate visual codebooks for the CT histogram descriptor. HIK codebooks help CT histogram to deal with the huge variations in VPC and improve system accuracy. A computational method is also proposed to generate HIK codebooks in an efficient way. The first significant VPC dataset in home environments is collected and is made publicly available, which is also used to evaluate the VPC system based on the proposed techniques. The VPC system achieves promising results for this challenging problem, especially for important categories such as bedroom, bathroom, and kitchen. The proposed techniques achieved higher accuracies than competing descriptors and visual codebook generation methods.

In this thesis we investigate visual place categorization by combining successful global image descriptors with a method of visual attention in order to automatically detect meaningful objects for places. The idea behind this is to incorporate information about typical objects for place categorization without the need for tedious labelling of important objects. Instead, the applied attention mechanism is intended to find the objects a human observer would focus first, so that the algorithm can use their discriminative power to conclude the place category. Besides this object-based place categorization approach we employ the Gist and the Centrist descriptor as holistic image descriptors. To access the power of all these descriptors we employ SVM-DAS (discriminative accumulation scheme) for cue integration and furthermore smooth the output trajectory with a delayed Hidden Markov Model. For the classification of the variety of descriptors we present and evaluate several classification methods. Among them is a joint probability modelling approach with two approximations as well as a modified KNN classifier, AdaBoost and SVM. The latter two classifiers are enhanced for multi-class use with a probabilistic computation scheme which treats the individual classifiers as peers and not as a hierarchical sequence. We check and tweak the different descriptors and classifiers in extensive tests mainly with a dataset of six homes. After these experiments we extend the basic algorithm with further filtering and tracking methods and evaluate their influence on the performance. Finally, we also test our algorithm within a university environment and on a real robot within a home environment.