Doors are an important sign for blind people and robots to enter and leave the building. Detection of doors in outdoor environments has become one of the most difficult issues in computer vision; Because usually in outdoor doors, the features of a simple door such as ha
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Doors are an important sign for blind people and robots to enter and leave the building. Detection of doors in outdoor environments has become one of the most difficult issues in computer vision; Because usually in outdoor doors, the features of a simple door such as handles, corners and empty space between the door and the floor are not obvious. In this article, a method for detecting doors in outdoor environments is presented. After extracting the lines and removing the extra lines, the area between the vertical lines is formed and the characteristics of each area including height, width, location, color, texture and number of lines inside the area are extracted. Additional knowledge such as the presence of the door at the bottom of the image, the reasonable height and width of the door, and the difference in color and texture of the door with the surrounding area are then used to determine the presence of the door. This method has been tested on our eTRIMS image collection and our image collection, including doors of houses, apartments and shops, and the presented results show the superiority of the proposed method over the previous methods.
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