Kinect Depth Image Based Door Detection for Autonomous Indoor Navigation
文献类型：会议论文
| 作者 | Yimin Zhou; Guolai Jiang; Guoqing Xu; Xinyu Wu; Ludovic Krundel |
| 出版日期 | 2014 |
| 会议名称 | Robot and Human Interactive Communication, 2014 RO-MAN: The 23rd IEEE International Symposium on |
| 会议地点 | 英国 |
| 英文摘要 | In this paper, an indoor navigation algorithm is proposed for the purpose of robot autonomous path planning. Due to the complex situation in indoor environments, it can cause a serious trouble for robot to identify the route during patrolling, especially for corner and door detection, which is the key step for intelligent navigation. To solve this problem, a kinect sensor is used for the door detection and corner location via depth images. The continuously varied ratios and depth difference in the images have been analyzed for the corner and door identification. Furthermore, the precise position of the doors and corners can be localized via the 3-dimensional characteristics of the depth images. Experiments in different scenarios have been performed to verify the efficacy of the algorithm for robot indoor autonomous navigation. |
| 收录类别 | 其他 |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/5544]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | 2014 |
| 推荐引用方式 GB/T 7714 | Yimin Zhou,Guolai Jiang,Guoqing Xu,et al. Kinect Depth Image Based Door Detection for Autonomous Indoor Navigation[C]. 见:Robot and Human Interactive Communication, 2014 RO-MAN: The 23rd IEEE International Symposium on. 英国. |
入库方式： OAI收割
来源：深圳先进技术研究院
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