Recognition of office-like environments through the extraction of the perspectwe structure

In this paper we propose a vision-based system that lets the robot recognize an environment observed through the construction of a perspective structure which characterizes it. The individualization of the most significant characteristics of the perspective structure is performed by a geometric method that, using the information given by the image, represents the scene through elementary geometrical forms (such as straight lines) and, on the basis of this geometrical representation, it detects the perspective structure elements (e.g. the vanishing point). The method returns results that can help the robot to establish if he is really inside a corridor or in another place.