ICRA 2011 Paper Abstract


Paper TuP204.4

Kwak, Nosan (National Institute of Advanced Industrial Science and Technology), Arisumi, Hitoshi (National Inst. of AIST), Yokoi, Kazuhito (National Inst. of AIST)

Visual Recognition of a Door and Its Knob for a Humanoid Robot

Scheduled for presentation during the Regular Sessions "Recognition I" (TuP204), Tuesday, May 10, 2011, 16:10−16:25, Room 3E

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Recognition, Humanoid Robots, Computer Vision for Robotics and Automation


This paper deals with the practical problem as to how a humanoid robot recognizes a door and its knob in an office environment. This is the first part of work where a humanoid robot recognizes, approaches, and opens a door. We propose an integrated solution for visual recognition of a door and its knob with minor assumptions. In our approach, the door recognition is transformed into the classification problem of feature points, which can be done quickly enough to conduct it on-line. The knob is extracted by a segmentation method and a few thresholds: blob size, blob ratio, and the distance from the floor. We show in the experiment that our humanoid robot can recognize a door and its knob reliably and quickly.



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