Detecting and modeling doors with mobile robots

  title={Detecting and modeling doors with mobile robots},
  author={Dragomir Anguelov and D. Koller and Evan Parker and S. Thrun},
  journal={IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004},
  pages={3777-3784 Vol.4}
  • Dragomir Anguelov, D. Koller, +1 author S. Thrun
  • Published 2004
  • Computer Science, Engineering
  • IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
  • 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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