Stair detection and tracking from egocentric stereo vision

Tobias Schwarze, Zhichao Zhong
2015 2015 IEEE International Conference on Image Processing (ICIP)  
In this work we present a real-time approach to capture the properties of staircases from a free moving, head mounted stereo-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
more » ... n in-and outdoor scenario and show competitive accuracy to state of the art approaches working on precise lidar-sensors.
doi:10.1109/icip.2015.7351291 dblp:conf/icip/SchwarzeZ15 fatcat:gju33gyosbhupgnued62nd5teq