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Sensors 2017, 17(8), 1824;

Stairs and Doors Recognition as Natural Landmarks Based on Clouds of 3D Edge-Points from RGB-D Sensors for Mobile Robot Localization

Natalnet Labs, Universidade Federal do Rio Grande do Norte (UFRN), 59078-970 Natal, RN, Brazil
LaSER-Embedded Systems and Robotics Lab, Universidade Federal da Paraiba (UFPB), 58058-600 João Pessoa, PB, Brazil
This paper is an extended version of our paper published in the 2016 International Conference on Autonomous Robot Systems and Competitions. Bragança, Portugal, 4–6 May 2016.
Author to whom correspondence should be addressed.
Received: 28 June 2017 / Revised: 25 July 2017 / Accepted: 2 August 2017 / Published: 8 August 2017
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Natural landmarks are the main features in the next step of the research in localization of mobile robot platforms. The identification and recognition of these landmarks are crucial to better localize a robot. To help solving this problem, this work proposes an approach for the identification and recognition of natural marks included in the environment using images from RGB-D (Red, Green, Blue, Depth) sensors. In the identification step, a structural analysis of the natural landmarks that are present in the environment is performed. The extraction of edge points of these landmarks is done using the 3D point cloud obtained from the RGB-D sensor. These edge points are smoothed through the S l 0 algorithm, which minimizes the standard deviation of the normals at each point. Then, the second step of the proposed algorithm begins, which is the proper recognition of the natural landmarks. This recognition step is done as a real-time algorithm that extracts the points referring to the filtered edges and determines to which structure they belong to in the current scenario: stairs or doors. Finally, the geometrical characteristics that are intrinsic to the doors and stairs are identified. The approach proposed here has been validated with real robot experiments. The performed tests verify the efficacy of our proposed approach. View Full-Text
Keywords: natural landmarks; RGB-D sensors; 3D edge-point cloud; robot localization natural landmarks; RGB-D sensors; 3D edge-point cloud; robot localization

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

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Souto, L.A.V.; Castro, A.; Gonçalves, L.M.G.; Nascimento, T.P. Stairs and Doors Recognition as Natural Landmarks Based on Clouds of 3D Edge-Points from RGB-D Sensors for Mobile Robot Localization. Sensors 2017, 17, 1824.

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