Location and Distance Measurement of Door Handle in HSI Color Space

Current approaches for opening door usually focus on the recognition of door handle in a fixed position, but in the process of door opening, a manipulator with a mobile platform is very important under real-world scenarios, which brings significance to the location and distance measurement of a door handle when the mobile platform is moving. In this paper, a method for location of a door handle in HSI color space is presented. The image of the door handle is captured by the kinect for Xbox360, and is processed in HSI color space, resulting in a rectangle frame fitted to the door handle to be displayed in real time. The distance value of the door handle is obtained from the depth image. Experiment results show the efficiency of the proposed method.