Title :
A virtual sensor for room detection
Author :
Buschka, P. ; Saffiotti, A.
Author_Institution :
Center for Appl. Autonomous Sensor Syst., Orebro Univ., Sweden
Abstract :
Indoor environments typically consist of sets of connected room-like spaces. We present a local technique that uses range data to detect these spaces during navigation. Our technique includes two parts: segmentation, which isolates room-like spaces and detects when the robot has entered a new one; and feature extraction, which associates each space with a set of geometric features useful for navigation or recognition. Many such features can be considered: here we propose a new method to compute width and length of a rectangular room in a way which is largely invariant with respect to the configuration of the furniture. We report experimental results that show the performance of our technique, and hint at a possible use of this technique for coarse localization on a topological map.
Keywords :
feature extraction; image segmentation; mobile robots; robot vision; coarse localization; feature extraction; mobile robot; range data; room detection; room-like spaces; segmentation; topological map; Indoor environments; Isolation technology; Mobile communication; Mobile robots; Navigation; Orbital robotics; Robot sensing systems; Sensor systems; Space exploration; Space technology;
Conference_Titel :
Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7398-7
DOI :
10.1109/IRDS.2002.1041463