{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,21]],"date-time":"2025-02-21T14:35:51Z","timestamp":1740148551512,"version":"3.37.3"},"reference-count":13,"publisher":"Wiley","license":[{"start":{"date-parts":[[2017,1,1]],"date-time":"2017-01-01T00:00:00Z","timestamp":1483228800000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100003329","name":"Ministerio de Economia y Competitividad","doi-asserted-by":"crossref","id":[{"id":"10.13039\/501100003329","id-type":"DOI","asserted-by":"crossref"}]},{"DOI":"10.13039\/100012818","name":"Comunidad de Madrid","doi-asserted-by":"crossref","id":[{"id":"10.13039\/100012818","id-type":"DOI","asserted-by":"crossref"}]},{"name":"EU"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Journal of Sensors"],"published-print":{"date-parts":[[2017]]},"abstract":"<jats:p>Projectors have become a widespread tool to share information in Human-Robot Interaction with large groups of people in a comfortable way. Finding a suitable vertical surface becomes a problem when the projector changes positions when a mobile robot is looking for suitable surfaces to project. Two problems must be addressed to achieve a correct undistorted image: (i) finding the biggest suitable surface free from obstacles and (ii) adapting the output image to correct the distortion due to the angle between the robot and a nonorthogonal surface. We propose a RANSAC-based method that detects a vertical plane inside a point cloud. Then, inside this plane, we apply a rectangle-fitting algorithm over the region in which the projector can work. Finally, the algorithm checks the surface looking for imperfections and occlusions and transforms the original image using a homography matrix to display it over the area detected. The proposed solution can detect projection areas in real-time using a single Kinect camera, which makes it suitable for applications where a robot interacts with other people in unknown environments. Our Projection Surfaces Detector and the Image Correction module allow a mobile robot to find the right surface and display images without deformation, improving its ability to interact with people.<\/jats:p>","DOI":"10.1155\/2017\/4853915","type":"journal-article","created":{"date-parts":[[2017,7,12]],"date-time":"2017-07-12T21:03:19Z","timestamp":1499893399000},"page":"1-16","source":"Crossref","is-referenced-by-count":1,"title":["Projection Surfaces Detection and Image Correction for Mobile Robots in HRI"],"prefix":"10.1155","volume":"2017","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5763-2015","authenticated-orcid":true,"given":"Enrique","family":"Fern\u00e1ndez-Rodicio","sequence":"first","affiliation":[{"name":"Departamento de Sistemas y Autom\u00e1tica, Universidad Carlos III de Madrid, 28911 Madrid, Spain"}]},{"given":"V\u00edctor","family":"Gonz\u00e1lez-Pacheco","sequence":"additional","affiliation":[{"name":"Departamento de Sistemas y Autom\u00e1tica, Universidad Carlos III de Madrid, 28911 Madrid, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0454-9466","authenticated-orcid":true,"given":"Jos\u00e9 Carlos","family":"Castillo","sequence":"additional","affiliation":[{"name":"Departamento de Sistemas y Autom\u00e1tica, Universidad Carlos III de Madrid, 28911 Madrid, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5189-0002","authenticated-orcid":true,"given":"\u00c1lvaro","family":"Castro-Gonz\u00e1lez","sequence":"additional","affiliation":[{"name":"Departamento de Sistemas y Autom\u00e1tica, Universidad Carlos III de Madrid, 28911 Madrid, Spain"}]},{"given":"Mar\u00eda","family":"Malfaz","sequence":"additional","affiliation":[{"name":"Departamento de Sistemas y Autom\u00e1tica, Universidad Carlos III de Madrid, 28911 Madrid, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0263-6606","authenticated-orcid":true,"given":"Miguel A.","family":"Salichs","sequence":"additional","affiliation":[{"name":"Departamento de Sistemas y Autom\u00e1tica, Universidad Carlos III de Madrid, 28911 Madrid, Spain"}]}],"member":"311","reference":[{"issue":"5","key":"2","doi-asserted-by":"crossref","first-page":"435","DOI":"10.1007\/s00530-011-0228-y","volume":"17","year":"2011","journal-title":"Multimedia Systems"},{"key":"6","doi-asserted-by":"publisher","DOI":"10.1145\/358669.358692"},{"key":"7","doi-asserted-by":"publisher","DOI":"10.1111\/j.1477-9730.2009.00564.x"},{"key":"9","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2011.08.009"},{"key":"10","doi-asserted-by":"publisher","DOI":"10.1145\/361237.361242"},{"key":"13","doi-asserted-by":"publisher","DOI":"10.1016\/j.jvcir.2013.04.001"},{"key":"16","doi-asserted-by":"publisher","DOI":"10.1117\/1.JEI.24.5.051008"},{"key":"17","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-40063-X_79"},{"key":"19","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-22698-9_15"},{"issue":"6","key":"20","first-page":"679","volume":"8","year":"1986","journal-title":"IEEE Transactions on Pattern Analysis and Machine Intelligence"},{"key":"22","doi-asserted-by":"publisher","DOI":"10.1115\/1.3176034"},{"key":"23","doi-asserted-by":"publisher","DOI":"10.1147\/sj.41.0025"},{"key":"25","doi-asserted-by":"publisher","DOI":"10.3390\/s120201437"}],"container-title":["Journal of Sensors"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/js\/2017\/4853915.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/js\/2017\/4853915.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/js\/2017\/4853915.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,5,18]],"date-time":"2020-05-18T02:19:39Z","timestamp":1589768379000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.hindawi.com\/journals\/js\/2017\/4853915\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017]]},"references-count":13,"alternative-id":["4853915","4853915"],"URL":"https:\/\/doi.org\/10.1155\/2017\/4853915","relation":{},"ISSN":["1687-725X","1687-7268"],"issn-type":[{"type":"print","value":"1687-725X"},{"type":"electronic","value":"1687-7268"}],"subject":[],"published":{"date-parts":[[2017]]}}}