A study on detecting elevator entrance door using stereo vision in multi floor environment

This paper describes algorithm to recognize an elevator entrance door in the multi floor environment in the house and office. The algorithm is useful in developing a service mobile robot which can be the moving on the environment. First, the process to detect the entrance is started with a reliable camera calibration and then through image process to acquire a clear image. Second, a candidate of elevator door is extracted by method to detect the corner of an elevator door using stereo vision instead of conventional method such as clustering process using a laser scanner. Third, the size of an elevator door is compared the uncertain door image acquired from stereo vision with the information of the standard size to find an elevator door. This paper confirmed that the proposed algorithm is easily to detect the elevator door on the multi floor.