Localization of Essential Door Features for Mobile Manipulation

  • Maciej Stefańczyk
  • Michał Walęcki
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 267)


In this paper, we present a control system of a robot actively detecting and labeling door features, such as handle, lock or door plate. System is described using agent-based approach, with clear division into control, effector and receptor subsystems, with most important parts deeply explained. Presented approach supplements gap between door detection and opening algorithms, giving a robot the ability to take more actions, like recognizing room number or opening door lock.


active vision door identification key hole door handle fuzzy inference 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Carinena, P., Regueiro, C.V., Otero, A., Bugarin, A.J., Barro, S.: Landmark detection in mobile robotics using fuzzy temporal rules. IEEE Transactions on Fuzzy Systems 12(4), 423–435 (2004)CrossRefGoogle Scholar
  2. 2.
    Anguelov, D., Koller, D., Parker, E., Thrun, S.: Detecting and modeling doors with mobile robots. In: Proceedings of the 2004 IEEE International Conference on Robotics and Automation, ICRA 2004, vol. 4, pp. 3777–3784. IEEE (2004)Google Scholar
  3. 3.
    Rusu, R.B., Meeussen, W., Chitta, S., Beetz, M.: Laser-based perception for door and handle identification. In: International Conference on Advanced Robotics, ICAR 2009, pp. 1–8. IEEE (2009)Google Scholar
  4. 4.
    Aude, E., Lopes, E., Aguiar, C., Martins, M.: Door crossing and state identification using robotic vision. In: 8th International IFAC Symposium on Robot Control (Syroco 2006), Bologna, Italy (2006)Google Scholar
  5. 5.
    Chen, Z., Birchfield, S.T.: Visual detection of lintel-occluded doors from a single image. In: IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops, CVPRW 2008, pp. 1–8. IEEE (2008)Google Scholar
  6. 6.
    Hensler, J., Blaich, M., Bittel, O.: Real-time door detection based on adaBoost learning algorithm. In: Gottscheber, A., Obdržálek, D., Schmidt, C. (eds.) EUROBOT 2009. CCIS, vol. 82, pp. 61–73. Springer, Heidelberg (2010)CrossRefGoogle Scholar
  7. 7.
    Brooks, R., Aryananda, L., Edsinger, A., Fitzpatrick, P., Kemp, C.C., O’Reilly, U.M., Torres-Jara, E., Varshavskaya, P., Weber, J.: Sensing and manipulating built-for-human environments. International Journal of Humanoid Robotics 1(1), 1–28 (2004)CrossRefGoogle Scholar
  8. 8.
    Tian, Y., Yang, X., Yi, C., Arditi, A.: Toward a computer vision-based wayfinding aid for blind persons to access unfamiliar indoor environments. Machine Vision and Applications, 1–15 (2013)Google Scholar
  9. 9.
    Yang, X., Tian, Y.: Robust door detection in unfamiliar environments by combining edge and corner features. In: 2010 IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops (CVPRW), pp. 57–64. IEEE (2010)Google Scholar
  10. 10.
    Winiarski, T., Banachowicz, K.: Opening a door with a redundant impedance controlled robot. In: 9th Workshop on Robot Motion & Control (RoMoCo), pp. 221–226 (2013)Google Scholar
  11. 11.
    Klingbeil, E., Saxena, A., Ng, A.Y.: Learning to open new doors. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2751–2757. IEEE (2010)Google Scholar
  12. 12.
    Walcki, M., Stefaczyk, M., Kornuta, T.: Control system of the active head of a service robot exemplified on visual servoing. In: 9th Workshop on Robot Motion and Control (RoMoCo), pp. 48–53 (2013)Google Scholar
  13. 13.
    Kornuta, T., Zieliski, C.: Robot control system design exemplified by multi-camera visual servoing. Journal of Intelligent & Robotic Systems, 1–25 (2013)Google Scholar
  14. 14.
    Walęcki, M., Banachowicz, K., Winiarski, T.: Research oriented motor controllers for robotic applications. In: Kozłowski, K. (ed.) Robot Motion and Control 2011. LNCIS, vol. 422, pp. 193–203. Springer, Heidelberg (2012)CrossRefGoogle Scholar
  15. 15.
    Stefańczyk, M., Kasprzak, W.: Multimodal segmentation of dense depth maps and associated color information. In: Bolc, L., Tadeusiewicz, R., Chmielewski, L.J., Wojciechowski, K. (eds.) ICCVG 2012. LNCS, vol. 7594, pp. 626–632. Springer, Heidelberg (2012)CrossRefGoogle Scholar

Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  1. 1.Institute of Control and Computation EngineeringWarsaw University of TechnologyWarsawPoland

Personalised recommendations