SEDLRF: A New Door Detection System for Topological Maps

摘要

Autonomous robots are currently receiving an increasing attention in the scientific community as well as in the industry. This is due to the upcoming applications in the field of service robotics. The first requirement for a robot to be able to do such tasks is to navigate successfully to desired locations in its environment. This paper investigates a perception system for topological navigation using real time laser information. The newly developed door detection system is named "space and edge detection laser range finder" or SEDLRF. SEDLRF detects space between door edges enabling fast door detection. Various experimental results show the performance of the presented system in detecting various doors by filtering at least 10 times of the detected points. SEDLRF achieves good performance with higher robot speed than other door detection systems.