This paper presents perceptual algorithms for corridor navigation, door detection and entry that can be used for exploration of an unknown floor of a building. The algorithms are fairly robust to sensor noise, do not use odometric data, and can be implemented on a low end PC. The primary sensor used is a laser range scanner.
Published Date: May 2001
Registration: ISBN 978-1-57735-133-7
Copyright: Published by The AAAI Press, Menlo Park, California.