Door Detection Algorithm Development Based on Robotic Vision and Experimental Evaluation on Prominent Embedded Systems

摘要

Accurate and reliable door detection comprise a critical cornerstone for nowadays robots aiming to offer advanced features and services. At the same time, the range of robotic platforms for indoor scenarios is continuously expanding, emphasizing on the use of low cost, versatile components able to boost widespread use of such solutions. However, respective door detection algorithms have to address specific challenges such as, not relying on specialized expensive sensors, being able to offer robust and accurate operation based on commodity cameras as well as efficient execution on low resource embedded systems. Driven by aforementioned observations in this paper the design and development of a practical and reliable door detection methodology is presented based solely on typical off the shelf web-camera, while posing minimum requirements on the height or angle it is mounted. Furthermore, a critical contribution of this paper is the experimental evaluation of the developed algorithm on popular embedded systems that are based on Micro Controller Units (MCUs) commonly found on contemporary robotic platforms.