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We use the 3D object classification, <jats:italic>PointNet<\/jats:italic>, real-time semantic segmentation algorithms such as, <jats:italic>FastFCN<\/jats:italic>, <jats:italic>FC-HarDNet<\/jats:italic>, <jats:italic>SegNet<\/jats:italic> and <jats:italic>BiSeNet<\/jats:italic>, the object detection algorithm, <jats:italic>DetectNet<\/jats:italic> and 2D object classification networks, <jats:italic>AlexNet<\/jats:italic> and <jats:italic>GoogleNet<\/jats:italic>. We built a 3D and RGB door dataset with images from several indoor environments using a 3D <jats:italic>Realsense<\/jats:italic> camera D435. This dataset is freely available online. All methods are analysed taking into account their accuracy and the speed of the algorithm in a low powered computer. We conclude that it is possible to have a door classification algorithm running in real-time on a low-power device.<\/jats:p>","DOI":"10.1007\/s42452-021-04588-3","type":"journal-article","created":{"date-parts":[[2021,4,29]],"date-time":"2021-04-29T11:05:00Z","timestamp":1619694300000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":13,"title":["Real-time 2D\u20133D door detection and state classification on a low-power device"],"prefix":"10.1007","volume":"3","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8884-0922","authenticated-orcid":false,"given":"Jo\u00e3o Gaspar","family":"Ram\u00f4a","sequence":"first","affiliation":[]},{"given":"Vasco","family":"Lopes","sequence":"additional","affiliation":[]},{"given":"Lu\u00eds A.","family":"Alexandre","sequence":"additional","affiliation":[]},{"given":"S.","family":"Mogo","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2021,4,29]]},"reference":[{"key":"4588_CR1","doi-asserted-by":"crossref","unstructured":"Wickramaarachchi WHC, Chamikara MAP, Ratnayake RACH (2017) Towards implementing efficient autonomous vacuum cleaning systems, In: 2017 IEEE International Conference on Industrial and Information Systems (ICIIS), pp. 1\u20136","DOI":"10.1109\/ICIINFS.2017.8300385"},{"key":"4588_CR2","doi-asserted-by":"publisher","DOI":"10.2139\/ssrn.3432156","author":"KL Narayanan","year":"2019","unstructured":"Narayanan KL, Kumaran DNM, Rajakumar G, Arshadh H, Dinesh I, Caleb V (2019) Design and fabrication of medicine delivery robots for hospitals. 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