An automated 3D scanning algorithm using depth cameras for door detection

This paper presents an investigation on the characteristics of Microsoft Kinect depth camera for door detection in an indoor environment. Autonomous vehicles usually have to rely on images when navigating indoors due to network limitations of an indoor environment. Locating a door for exit and entryway is one of the problems that need to be tackled when navigating indoors. In this paper, images from a depth camera are captured and used as a tool for detecting doors. The continuously varied ratios and depth differences in the door images have been analysed. An algorithm for door detection was developed using MATLAB. Experiments using different heights and depths of the Kinect sensor have been performed to verify the efficacy of the algorithm for indoor autonomous flying robots like the quadcopter. The algorithm developed is best performed in a clear path of 3.5 meters. The accuracy of the measurement was influenced by the low resolution of the depth images.