Repository logo

NOVA LINCS-UBI

Permanent URI for this community

http://hdl.handle.net/10400.6/10450

NOVA-LINCS UBI is the research center of NOVALINCS research unit located at the UBI. Its mission is to develop cutting edge scientific research in key areas of Computer Science and Informatics as defined by its strategic program, contribute to advanced education in the field, and share the produced knowledge, results, and innovation with users and communities within society.

Website NOVA LINCS

Browse

Browsing NOVA LINCS-UBI by Subject "Door segmentation"

Now showing 1 - 1 of 1
  • Real-time 2D–3D door detection and state classification on a low-power device
    Publication . Ramôa, João Gaspar; Lopes, Vasco; Alexandre, Luís; Mogo, Sandra
    In this paper, we propose three methods for door state classifcation with the goal to improve robot navigation in indoor spaces. These methods were also developed to be used in other areas and applications since they are not limited to door detection as other related works are. Our methods work ofine, in low-powered computers as the Jetson Nano, in real-time with the ability to diferentiate between open, closed and semi-open doors. We use the 3D object classifcation, PointNet, real-time semantic segmentation algorithms such as, FastFCN, FC-HarDNet, SegNet and BiSeNet, the object detection algorithm, DetectNet and 2D object classifcation networks, AlexNet and GoogleNet. We built a 3D and RGB door dataset with images from several indoor environments using a 3D Realsense camera D435. This dataset is freely available online. All methods are analysed taking into account their accuracy and the speed of the algorithm in a low powered computer. We conclude that it is possible to have a door classifcation algorithm running in real-time on a low-power device.
    2021Journal article Open access Show more