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Fast open doorway detection for autonomous robot exploration
Fast open doorway detection for autonomous robot exploration
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机译:快速开门检测,用于自主机器人探索
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摘要
Described is a system for open doorway detection for autonomous robot exploration, the system includes an onboard range sensor that is operable for constructing a three-dimensional (3D) point cloud of a scene. One or more processors that receive the 3D point cloud from the range sensor. The 3D point cloud is then filtered and downsampled to remove cloud points outside of a predefined range and reduce a size of the point cloud and, in doing so, generate a filtered and downsampled 3D point cloud. Vertical planes are extracted from the filtered and downsampled 3D point cloud. Finally, open doorways are identified from each extracted vertical plane.
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