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마승완(Seung-Wan Ma),최학남(Xuenan Cui),이형호(Hyung-Ho Lee),김형래(Hyung-Rae Kim),이재홍(Jae-Hong Lee),김학일(Hakil Kim) 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.6
The recognition of elevator door is needed for mobile service robots to moving between floors in the building. This paper proposed the sensor fusion approach using LRF (Laser Range Finder) and camera to solve the problem. Using the laser scans by the LRF, we extract line segments and detect candidates as the elevator door. Using the image by the camera, the door candidates are verified and selected as real door of the elevator. The outliers are filtered through the verification process. Then, the door state detection is performed by depth analysis within the door. The proposed method uses extrinsic calibration to fuse the LRF and the camera. It gives better results of elevator door recognition compared to the method using LRF only.