Abstract
In this paper, we propose a elevator detection independent from map data. The elevator generally have a lot of designs such as the simple in the station and the decorated in the department store. It seems that the elevator has few common features, but door and button are equipped with the all ones. The former has a certain width and depth between the wall, the latter is the distinctive shape (the plate and the button). Thus, we recognize these two features using by the LIDAR data and the camera image. The algorithm achieves 90% detection without the map, which demonstrates that our method is generic and robust with variations of color, texture, lighting condition.
