Opening doors and drawers will be an important ability for future service robots used in domestic and industrial environments.
However, in recent years, the methods for opening doors and drawers have become more diverse and difficult for robots to
determine and manipulate. We can divide doors into three distinct handling types: regular handles, hidden handles, and push
mechanisms. While extensive research has been done on the detection and handling of regular handles, the other types of handling
have not been explored as much. In this paper, we set out to classify the types of cabinet door handling types. To this end, we collect
and label a dataset consisting of RGB-D images of cabinets in their natural environment. As part of the dataset, we provide images
of humans demonstrating the handling of these doors. We detect the poses of human hands and then train a classifier to determine
the type of cabinet door handling. With this research, we hope to provide a starting point for exploring the different types of cabinet door
openings in real-world environments.
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Šimundić, Valentin; Džijan, Matej; Pejić, Petra; Cupec, Robert
Introduction to Door Opening Type Classification Based on Human Demonstration //
Sensors, 23 (2023), 6, 21 doi:10.3390/s23063093
https://www.mdpi.com/1424-8220/23/6/3093#
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