To realize the space positioning as well as the precise detection to doors for robots,the binocular visual based door detection method was proposed.The vertical line segment in images captured by binocular cameras was extracted based on Scharr operator and Hough transform.Based on the similarity in feature histogram,a list of matched line segments pairs which represented the same line in the real world was detected.According to the principle of binocular measurement method,the concept of door candidate was ...
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