Door detection with door handle recognition based on contour image and support vector machine

Dong Wook Lee, Joong Tae Park, Jae Bok Song

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


A door can serve as a feature for place classification and localization for navigation of a mobile robot in indoor environments. This paper proposes a door detection method based on the recognition of various door handles using the general Hough transform (GHT) and support vector machine (SVM). The contour and color histogram of a door handle extracted from the database are used in GHT and SVM, respectively. The door recognition scheme consists of four steps. The first step determines the region of interest (ROI) images defined by the color information and the environment around the door handle for stable recognition. In the second step, the door handle is recognized using the GHT method from the ROI image and the image patches are extracted from the position of the recognized door handle. In the third step, the extracted patch is classified whether it is the image patch of a door handle or not using the SVM classifier. The door position is probabilistically determined by the recognized door handle. Experimental results show that the proposed method can recognize various door handles and detect doors in a robust manner.

Original languageEnglish
Pages (from-to)1226-1232
Number of pages7
JournalJournal of Institute of Control, Robotics and Systems
Issue number12
Publication statusPublished - 2010 Dec


  • Door detection
  • Door handle recognition
  • General hough transform
  • Support vector machine

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Applied Mathematics


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