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Thanks Mac.

The ARTAgs are a good solution. However if anyone knows other solution, like it is proposed in "AdaBoost based Door Detection for Mobile Robots" Hensler, Jens et al or in "Active Vision for Door Localization and Door Opening using Playbot: A Computer Controlled Wheelchair for People with Mobility Impairments" Andreopoulos, Alexander Tsotsos, John K. please let me know!

Cheers

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