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Stair Detection and Tracking from egocentric Stereo Vision |
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In this work we present a real-time approach to capture the properties of staircases from a free moving, head mountedstereo-camera. A variety of systems can profit from such ability, examples range from robots in multi-floor exploration scenarios to wearable assistance systems for the visually impaired. We introduce a light-weight method to measure the individual steps and use this information to update a minimal stair model while approaching and traversing the stair. Results are evaluated on an in- and outdoor scenario and show competitive accuracy to state of the art approaches working on precise lidar-sensors.
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PaperBibTeX
@INPROCEEDINGS{schwarze_icip15,
title={Stair Detection and Tracking from Egocentric Stereo Vision},
author = {Schwarze, Tobias and Zhong, Zhichao},
booktitle={Image Processing (ICIP), 2015 International Conference on},
year={2015},
month = {September}
}