Detecting and modeling doors with mobile robots

@article{Anguelov2004DetectingAM,
  title={Detecting and modeling doors with mobile robots},
  author={Dragomir Anguelov and Daphne Koller and Evan Parker and Sebastian Thrun},
  journal={IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004},
  year={2004},
  volume={4},
  pages={3777-3784 Vol.4}
}
We describe a probabilistic framework for detection and modeling of doors from sensor data acquired in corridor environments with mobile robots. The framework captures shape, color, and motion properties of door and wall objects. The probabilistic model is optimized with a version of the expectation maximization algorithm, which segments the environment into door and wall objects and learns their properties. The framework allows the robot to generalize the properties of detected object… CONTINUE READING

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