“…For Edge detection, we found two algorithms methods; canny edge detector that is used to detect doors (Sivan & Darsan, 2016) and line segment detector, which is also used to detect doors with an accuracy rate of up to 93.2% for the ImageNet dataset (Talebi & Vafaei, 2018). For objects and obstacle detection, we found three algorithms; first is CNN to recognize the color and sign of traffic got mAP of 96% % (Li, Cui, Rizzo, Wong, & Fang, 2020); in another research, CNN is also used to detect objects, but not accurate for multi objects in one scene, so they implemented RCNN (Balasuriya, Lokuhettiarachchi, Ranasinghe, Shiwantha, & Jayawardena, 2017), second is YOLOv1 used to detect objects and obstacles and the detection rate is up to 89% for all kind of obstacles (Mocanu, Tapu, & Zaharia, 2017), and third is YOLOv3 also used to detect objects, and the mAP is 73.19% (Afif, Ayachi, Pissaloux, Said, & Atri, 2020), and in the other research the accuracy rate is up to 95.19% (Joshi, Yadav, Dutta, & Travieso-Gonzalez, 2020) and 92% (Mahmud, Sourave, Islam, Lin, & Kim, 2020).…”