Doors are important landmarks for robot selflocalization and navigation in indoor environments. Existing algorithms for door detection are often limited to restricted environments. They do not consider the large intra-class variability of doors. In this paper we present a cameraand laser-based approach which allows finding more than 82% of all doors with a false positive rate less than 3% in static test sets. By using different door perspectives from a moving robot, we detect more than 90% of doors with a very low false detection rate.
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AdaBoost based Door Detection for Mobile Robots
Semantic Scholar · Computer Science · 2010
Abstract
Doors are important landmarks for robot selflocalization and navigation in indoor environments. Existing algorithms for door detection are often limited to restricted environments. They do not consider the large intra-class variability of doors. In this paper we present a cameraand laser-based approach which allows finding more than 82% of all doors with a false positive rate less than 3% in static test sets. By using different door perspectives from a moving robot, we detect more than 90% of doors with a very low false detection rate.