Space recognition in multi-floor building environment

Space recognition is one of the essential techniques for service robot. The purpose of this paper is finding out where the floor is collect in similar structural multi-floor building environment. We propose space recognition which is dividing spaces to similar space group and distinct space group and give different weight to each group and calculate state probability. Because our algorithm contains pre-state probability, it is robust for temporary recognition error. In order to evaluate our proposed method, we compared a method which is not applied weighted space recognition and a method which is applied weighted space method. The experiment result shows that our method is suitable for service robot in multi-floor building environment.