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Robot. AI"],"abstract":"<jats:p>Mobile robots equipped with projectors enable versatile applications such as multimedia display, interactive communication, and environmental augmentation. However, wall projection, which is required for displaying multimedia content on walls, remains challenging, because it is difficult to autonomously locate a projection space that is both flat and unobstructed. Some existing approaches address wall projection using 2D maps or by considering only large continuous surfaces, but these methods fail to capture the full potential of detailed 3D information of the operation area and often overlook wall segments that are partially occluded by objects, for example, areas blocked by pictures or whiteboards. To tackle these challenges, we propose a method based on 3D PanopticNDT maps, that uses semantic information to identify suitable wall segments. A tailored scoring function then evaluates potential robot poses to ensure optimal projection conditions, such as proper viewing angle, appropriate distance, and maximal surface area. Our experiments on both synthetic and real-world datasets demonstrate that our approach is well-suited for practical applications, effectively overcoming the limitations of earlier methods.<\/jats:p>","DOI":"10.3389\/frobt.2026.1810071","type":"journal-article","created":{"date-parts":[[2026,6,29]],"date-time":"2026-06-29T09:01:11Z","timestamp":1782723671000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":0,"title":["Projection surface detection and pose selection for autonomously displaying multimedia on walls using mobile robots"],"prefix":"10.3389","volume":"13","author":[{"given":"Kay","family":"Richter","sequence":"first","affiliation":[{"name":"Neuroinformatics and Cognitive Robotics Lab, Ilmenau University of Technology","place":["Ilmenau, Germany"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"S\u00f6hnke Benedikt","family":"Fischedick","sequence":"additional","affiliation":[{"name":"Neuroinformatics and Cognitive Robotics Lab, Ilmenau University of Technology","place":["Ilmenau, Germany"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Horst-Michael","family":"Gross","sequence":"additional","affiliation":[{"name":"Neuroinformatics and Cognitive Robotics Lab, Ilmenau University of Technology","place":["Ilmenau, Germany"]}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1965","published-online":{"date-parts":[[2026,6,29]]},"reference":[{"key":"B1","first-page":"5930","article-title":"Rayfronts: Open-Set Semantic Ray Frontiers for Online Scene Understanding and Exploration","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems IROS","author":"Alama","year":"2025"},{"key":"B2","doi-asserted-by":"crossref","first-page":"294","DOI":"10.1109\/ROMAN.2016.7745145","article-title":"Projecting robot intentions into human environments","volume-title":"2016 25th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)","author":"Andersen","year":"2016"},{"key":"B3","volume-title":"The Opencv Library","author":"Bradski","year":"2000"},{"key":"B4","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1109\/ECMR.2015.7403771","article-title":"That\u2019s on my mind! robot to human intention communication through on-board projection on shared floor space","volume-title":"2015 European Conference on Mobile Robots (ECMR)","author":"Chadalavada","year":"2015"},{"key":"B5","doi-asserted-by":"publisher","first-page":"109","DOI":"10.1109\/.HRI.2013.6483525","article-title":"Interactive display robot: projector robot with natural user interface","author":"Choi","year":"2013","journal-title":"8th ACM\/IEEE Int. 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