Detection and modelling of staircases using a wearable depth sensor

Pérez-Yus, A. (Universidad de Zaragoza) ; López-Nicolás, G. (Universidad de Zaragoza) ; Guerrero, J.J. (Universidad de Zaragoza)

Resumen: In this paper we deal with the perception task of a wearable navigation assistant. Specifically, we have focused on the detection of staircases because of the important role they play in indoor navigation due to the multi-floor reaching possibilities they bring and the lack of security they cause, specially for those who suffer from visual deficiencies. We use the depth sensing capacities of the modern RGB-D cameras to segment and classify the different elements that integrate the scene and then carry out the stair detection and modelling algorithm to retrieve all the information that might interest the user, i.e. the location and orientation of the staircase, the number of steps and the step dimensions. Experiments prove that the system is able to perform in real-time and works even under partial occlusions of the stairway.

Idioma: Inglés

DOI: 10.1007/978-3-319-16199-0_32

Año: 2015

Publicado en: Lecture Notes in Computer Science 8927 (2015), 449-463
ISSN: 0302-9743

Factor impacto SCIMAGO: 0.369 - Computer Science (miscellaneous) (Q2) - Theoretical Computer Science (Q3)

Financiación: info:eu-repo/grantAgreement/ES/MINECO/BES-2013-065834
Financiación: info:eu-repo/grantAgreement/ES/MINECO/DPI2012-31781

Tipo y forma: Artículo (PostPrint)

Área (Departamento): Área Ingen.Sistemas y Automát. (Dpto. Informát.Ingenie.Sistms.)