NDLI: Visual recognition of a door and its knob for a humanoid robot

Content Provider	IEEE Xplore Digital Library
Author	Kwak, N. Arisumi, H. Yokoi, K.
Copyright Year	2011
Description	Author affiliation: Fundamental Technology Team, Mechatronics & Manufacturing Technology Center, Samsung Electronics Co., Ltd., Suwonsi, Kyunggi-do, 443-742, Republic of Korea (Kwak, N.) \|\| Humanoid Research Group and CNRS-AIST Joint Robotics Laboratory UMI3218/CRT, Japan (Arisumi, H.; Yokoi, K.)
Abstract	This paper deals with the practical problem of how a humanoid robot recognizes a door and its knob in an office environment. This is the initial work where a humanoid robot recognizes, approaches, and opens a door. We propose an integrated solution for visual recognition of a door and its knob with minor constraints. In our approach, the door recognition is transformed into the classification problem of feature points, which can be done quickly enough to conduct it on-line. The knob is extracted by a segmentation method and a few thresholds: blob size, blob ratio, and the distance from the floor. We show in the experiment that our humanoid robot can recognize a door and its knob reliably and quickly.
Starting Page	2079
Ending Page	2084
File Size	633034
Page Count	6
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5979608
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cameras Visualization Humanoid robots Legged locomotion Robot vision systems Feature extraction
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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