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Doors are important landmarks for indoor mobile robot navigation and also assist blind people to independently access unfamiliar buildings. Most existing algorithms of door detection are limited to work for familiar environments because of restricted assumptions about color, texture and shape. In this paper, the authors propose a novel approach which employs feature based classification and uses the Kohonen Self-Organizing Map (SOM) for the purpose of door detection. Generic and stable features are used for the training of SOM that increase the performance significantly: concavity, bottom-edge intensity profile and door edges.
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