System and method for door detection for corridor exploration

Described is a system for door detection for use with an unmanned aerial vehicle (UAV). The system receive a video input image from a single monocular camera. Edge points are detected in the video, with the edge points connected to form long edge lines. Orientations of the long edge lines are determ...

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Bibliographic Details
Main Authors Zhang, Lei, Kim, Kyungnam, Khosla, Deepak
Format Patent
LanguageEnglish
Published 22.05.2018
Subjects
CALCULATING
COMPUTING
COUNTING
IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
PHYSICS
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Summary:Described is a system for door detection for use with an unmanned aerial vehicle (UAV). The system receive a video input image from a single monocular camera. Edge points are detected in the video, with the edge points connected to form long edge lines. Orientations of the long edge lines are determined, such that long edge lines having a substantially vertical orientation are designated as initial door line candidates and long edge lines having a non-vertical, non-horizontal orientation are designated for use in detecting a vanishing point. A vanishing point is then detected in the video frame. Thereafter, intensity profile and line properties of the door line candidates are calculated. Finally, it is verified if the door line candidates are real world door lines and, if so, an area between the real world door lines is designated as an open door.
Bibliography:Application Number: US201514981131