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http://dx.doi.org/10.5302/J.ICROS.2012.18.6.601

Robust Elevator Door Recognition using LRF and Camera  

Ma, Seung-Wan (Inha University)
Cui, Xuenan (Inha University)
Lee, Hyung-Ho (Inha University)
Kim, Hyung-Rae (Inha University)
Lee, Jae-Hong (Inha University)
Kim, Hak-Il (Inha University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.18, no.6, 2012 , pp. 601-607 More about this Journal
Abstract
The recognition of elevator door is needed for mobile service robots to moving between floors in the building. This paper proposed the sensor fusion approach using LRF (Laser Range Finder) and camera to solve the problem. Using the laser scans by the LRF, we extract line segments and detect candidates as the elevator door. Using the image by the camera, the door candidates are verified and selected as real door of the elevator. The outliers are filtered through the verification process. Then, the door state detection is performed by depth analysis within the door. The proposed method uses extrinsic calibration to fuse the LRF and the camera. It gives better results of elevator door recognition compared to the method using LRF only.
Keywords
extrinsic calibration; straight line extraction; door detection; door recognition; sensor fusion;
Citations & Related Records
Times Cited By KSCI : 4  (Citation Analysis)
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