Abstract
This paper presents an approach to detect the entrance of building for autonomous navigation robot. Entrance is an important component which connects internal and external environments in building. This paper focuses on the method of entrance detection using multiple cues. The information of entrance characteristics, such as relative height and position on the building are taken into account. To taking hypotheses of entrance, we adopt the probabilistic model for entrance detection by defining the likelihood of various features. Firstly, we detect building’s surfaces. Secondly, we extract the wall region and windows. The remaining area is considered to be the entrance to the candidate. Finally, the entrance is identified by its probabilistic model.
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Kim, DN., Trinh, HH., Jo, KH. (2010). Entrance Detection of Building Component Based on Multiple Cues. In: Huang, DS., McGinnity, M., Heutte, L., Zhang, XP. (eds) Advanced Intelligent Computing Theories and Applications. ICIC 2010. Communications in Computer and Information Science, vol 93. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-14831-6_53
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DOI: https://doi.org/10.1007/978-3-642-14831-6_53
Publisher Name: Springer, Berlin, Heidelberg
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