Door Detection in 3D Colored Laser Scans for Autonomous Indoor Navigation

Blanca Quintana, Samuel A. Prieto, Antonio Adán, Frederic Nicolas Bosche

Research output: Chapter in Book/Report/Conference proceedingConference contribution

13 Citations (Scopus)
109 Downloads (Pure)

Abstract

Door detection is becoming an increasingly important subject in relation to autonomous mobile robot navigation in indoor environments. This paper presents an original approach that recognizes open and closed doors in 3D laser scanned data. The proposed technique uses both the geometric (i.e. XYZ coordinates) and colour (i.e. RGB/HSV) information provided by a calibrated set of 3D laser scanner and a colour camera. In other words, our technique is developed under a 6D-space framework. The geometry/colour integration and other characteristics of our method make it robust under occlusion and efficient to slight changes in door colours resulting from varying lighting conditions experienced from different scanning locations. The approach is tested in both simulated and real scenes, yielding encouraging results.
Original languageEnglish
Title of host publication2016 International Conference on Indoor Positioning and Indoor Navigation (IPIN)
PublisherIEEE
ISBN (Electronic)9781509024247
ISBN (Print)9781509024254
DOIs
Publication statusPublished - 17 Nov 2016
Event7th International Conference on Indoor Positioning and Indoor Navigation 2016 - Alcala de Henares, Madrid, Spain
Duration: 4 Oct 20167 Oct 2016

Publication series

NameInternational Conference on Indoor Positioning and Indoor Navigation
PublisherIEEE
ISSN (Print)2471-917X

Conference

Conference7th International Conference on Indoor Positioning and Indoor Navigation 2016
Abbreviated titleIPIN 2016
CountrySpain
CityMadrid
Period4/10/167/10/16

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