Entity

Time filter

Source Type

Doñinos de Salamanca, Spain

Fernandez-Carames C.,Robotics and Society Research Group | Moreno V.,Robotics and Society Research Group | Curto B.,Robotics and Society Research Group | Rodriguez-Aragon J.F.,Robotics and Society Research Group | Serrano F.J.,Robotics and Society Research Group
Journal of Intelligent and Robotic Systems: Theory and Applications | Year: 2013

Human beings use doors to access rooms and corridors, to know where they are, to know where they have to go, etc. Similarly, it would be quite useful for robots to be able to detect doors in order to accomplish more complex and flexible navigation tasks. Such a goal is even more desirable when domestic environments are taken into account. Moreover, if the human-robot interaction is considered, the use of this semantic information can be broadly used. In this paper we present a solid and complete door detection system which fuses data from an end-user camera and a laser rangefinder. By using both Haar-like features and the Integral Image, the computation time is significantly reduced when compared to other methods found in the literature. Extensive tests in real-world environments have been performed in order to prove the efficiency, robustness and real-time ability of our system. © 2013, Springer Science+Business Media Dordrecht.


Fernandez-Carames C.,Robotics and Society Research Group | Serrano F.J.,Robotics and Society Research Group | Moreno V.,Robotics and Society Research Group | Curto B.,Robotics and Society Research Group | And 2 more authors.
Robotics and Autonomous Systems | Year: 2016

Nowadays, accurate maps from mostly anywhere in the world can be obtained for free, with the exception of indoor spaces. However, the evidence seems to suggest that in the next few years indoor maps will be more and more available for anyone. Thus, profiting from the idea of easily obtainable indoor maps, we present a novel approach for real-time mobile robot localization that focuses on spatial reasoning at a high abstraction level. In order to manage and query existing indoor spatial models, we rely on the power of Geographic Information Systems (GIS) and spatial databases. Moreover, to extract symbolic information from the environment, we have developed a door detection system that fuses 2D laser and vision data. We have integrated these two ideas into an extended Kalman filter localization framework. Our proposal has been implemented and tested through autonomous navigation missions in real-world scenarios. Extensive experimental results are provided, which show robustness and accuracy concerning both door detection and localization. © 2015 Elsevier B.V.

Discover hidden collaborations