For autonomous mobile service robots, closed doors that are in their way are restricting obstacles. In order to open doors with on-board manipulation skills, a robot needs to be able to localize the door’s key features, such as the hinge and handle, as well as the current opening angle. While there are vision-based approaches for detecting doors and handles in images, we concentrate on analyzing 2D laser range scans. This requires less computational effort, and laser-scan sensors are available on most mobile robot platforms. Therefore, we developed three different machine learning approaches and a heuristic method based on line fitting able to extract the required position data. The algorithms are compared with respect to localization accuracy with help of a dataset containing laser range scans of doors. Our LaserDoors dataset is publicly available for academic use. Pros and cons of the individual methods are discussed; basically, the machine learning methods could outperform the heuristic method, but require special training data when applied in a real application.


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    Title :

    Laser-based door localization for autonomous mobile service robots


    Contributors:

    Publication date :

    2023-05-31



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    620 / 629




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