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Generic frontal and side doorway detection with line tracking and vanishing point based verification
Generic frontal and side doorway detection with line tracking and vanishing point based verification
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机译:具有线跟踪和基于消失点的验证的常规前门和侧门检测
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摘要
Described is a system for frontal and side doorway detection. Salient line segments are extracted from an image frame captured of an indoor environment. Existence of a vanishing point in the image frame is determined. If a vanishing point is detected with a confidence score that meets or exceeds a predetermined confidence score, then the system performs side doorway detection via a side doorway detection module. If a vanishing point is detected with a confidence score below the predetermined confidence score, then the system performs frontal doorway detection via a frontal doorway detection module. A description of detected doorways is output and used by a mobile robot (Unmanned Aerial Vehicle) to autonomously navigate the indoor environment.
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