Image Signal Processing for Visual Door Passing with an Omnidirectional Camera

This paper proposes a novel framework for vision based door traversal that contributes to the ultimate goal of purely vision based mobile robot navigation. The door detection, door tracking and door traversal is accomplished by processing omnidirectional images. In door detection candidate line segments detected in the image are grouped and matched with prototypical door patterns. In door localisation and tracking a Kalman filter aggregates the visual information with the robots odometry. Door traversal is accomplished by a 2D visual servoing approach. The feasibility and robustness of the scheme are confirmed and validated in several robotic experiments in an office environment.

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