Visual understanding of doorways for mobile robots

Study level


Topic status

We're looking for students to study this topic.


Dr Suman Bista
Research Fellow- Robotic Vision Evaluation and Benchmarking
Division / Faculty
Science and Engineering Faculty
Dr Frederic Maire
Senior Lecturer
Division / Faculty
Science and Engineering Faculty


For social robots and service robots to be able to operate effectively 'out of the box' in indoor environments, they must be able to understand the context of those environments without necessarily developing or having access to a complex map.

The aim of this project is to develop a generic understanding of doorways for mobile robots relying only on visual information. We will be using the Pepper robot from Softbank Robotics as a test and demonstration platform. The aim is for Pepper to become capable of recognising and announcing when it has exited one room and entered another by passing through a doorway.

Research activities

This project is a component of the  Vison-enabled Humanoid Robotics project, which is funded by the Queensland Government, using the Pepper robot from Softbank Robotics. The project aims to enhance future humanoid robotic platforms to help robots see and interact with their environment and interact dynamically with humans.

You will develop algorithms to process image data from Pepper’s cameras to recognise when the robot moves though a doorway – initially when remotely controlled, and later when navigating autonomously.


The project will result in a demonstration of a robot moving in a new environment, and announcing when it is about to pass through a doorway, and again when it has entered a new room.

Skills and experience

Essential skills

Excellent programming skills in Python or C++.

Desirable skills

Basic knowledge of image processing, machine learning and AI.

Previous experience in robotics is not essential, as it is expected to be developed as part of this project.


You may be able to apply for a research scholarship in our annual scholarship round.

Annual scholarship round



Contact the supervisor for more information.