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Fast open doorway detection for autonomous robot exploration

  • US 9,251,417 B1
  • Filed: 10/15/2014
  • Issued: 02/02/2016
  • Est. Priority Date: 10/15/2014
  • Status: Active Grant
First Claim
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1. A system for open doorway detection for autonomous robot exploration, the system comprising:

  • an onboard range sensor, the range sensor operable for constructing a three-dimensional (3D) point cloud of a scene;

    one or more processors and a memory, the memory being a non-transitory computer-readable medium having executable instructions encoded thereon, such that upon execution of the instructions, the one or more processors perform operations of;

    receiving a 3D point cloud from the range sensor, the 3D point cloud having a plurality of cloud points;

    filtering and downsampling the 3D point cloud to remove cloud points outside of a predefined range and reduce a size of the point cloud and, in doing so, generating a filtered and downsampled 3D point cloud;

    extracting vertical planes from the filtered and downsampled 3D point cloud; and

    identifying open doorways from each extracted vertical plane.

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