关键词: 竖线特征匹配, 门识别, 双目立体视觉, 家庭服务机器人

Abstract: To realize the space positioning as well as the precise detection to doors for robots,the binocular visual based door detection method was proposed.The vertical line segment in images captured by binocular cameras was extracted based on Scharr operator and Hough transform.Based on the similarity in feature histogram,a list of matched line segments pairs which represented the same line in the real world was detected.According to the principle of binocular measurement method,the concept of door candidate was proposed,and the features of door side frame,depth mutation,occlusion and color symmetry were extracted.The  multi-variate features of doors was effectively coped with the characteristic integrating system,and doors in indoor environment were detected.Experimental results showed that the proposed method could perform door detection with accuracy rate over 93%.Moreover,it was fast enough to be used for real-time applications in mobile robot systems.

Key words: vertical line segments matching, door detection, binocular vision, mobile robot systems