NDLI: Investigating the Performance of Corridor and Door Detection Algorithms in Different Environments

Content Provider	IEEE Xplore Digital Library
Author	Wenxia Shi Samarabandu, J.
Copyright Year	2006
Description	Author affiliation: Western Ontario Univ., London (Wenxia Shi; Samarabandu, J.)
Abstract	The capability of identifying physical structures in an unknown environment is important for autonomous mobile robot navigation and scene understanding. A methodology for detecting corridor and door structures in an indoor environment is proposed, and the performances of the corridor detection algorithm and door detection algorithm applied in different environments are evaluated. In the proposed algorithms, we utilize a feedback mechanism based hypothesis generation and verification (HGV) method to detect corridor and door structures using low level line features in video images. The proposed method consists of low, intermediate, and high level processing stages which correspond to the extraction of low-level features, the formation of hypotheses, and the verification of hypotheses using a feedback mechanism, respectively. The system has been tested on a large number of real corridor images captured by a moving robot in a corridor. The experimental results validated the effectiveness and robustness of the proposed methods with respect to different viewpoints, different robot moving speed, under different illumination conditions and reflection variations.
Starting Page	206
Ending Page	211
File Size	4703935
Page Count	6
File Format	PDF
ISBN	1424405548
DOI	10.1109/ICINFA.2006.374113
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-12-15
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Performance evaluation System testing vanishing point Navigation Indoor environments hypothesis generation and verification Mobile robots feedback mechanism vision based robot navigation Feedback Layout door detection Feature extraction Robustness corridor line detection Detection algorithms
Content Type	Text
Resource Type	Article

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