Visual Recognition of a Door and Its Knob for a Humanoid Robot
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.
Nosan Kwak Hitoshi Arisumi Kazuhito Yokoi
Fundamental Technology Team, Mechatronics & Manufacturing Technology Center, Samsung Electronics Co. Humanoid Research Group and CNRS-AIST Joint Robotics Laboratory UMI3218/CRT as adjunct members at AI
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
2079-2084
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）