75391 20250612142453.0 doi 10.1007/978-3-319-16199-0_32 sideral 90466 ART-2015-90466 eng Pérez-Yus, A. Universidad de Zaragoza (orcid)0000-0002-8949-2632 Detection and modelling of staircases using a wearable depth sensor 2015 Access copy available to the general public Unrestricted 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. info:eu-repo/grantAgreement/ES/MINECO/BES-2013-065834 info:eu-repo/grantAgreement/ES/MINECO/DPI2012-31781 info:eu-repo/semantics/openAccess All rights reserved http://www.europeana.eu/rights/rr-f/ 0.369 2015 Computer Science (miscellaneous) 2015 Q2 Theoretical Computer Science 2015 Q3 info:eu-repo/semantics/article info:eu-repo/semantics/acceptedVersion López-Nicolás, G. Universidad de Zaragoza (orcid)0000-0001-9347-5969 Guerrero, J.J. Universidad de Zaragoza (orcid)0000-0001-5209-2267 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 8927 (2015), 449-463 Lect. notes comput. sci. Lecture Notes in Computer Science 0302-9743 1480904 http://zaguan.unizar.es/record/75391/files/texto_completo.pdf Postprint 63486 http://zaguan.unizar.es/record/75391/files/texto_completo.jpg?subformat=icon icon Postprint oai:zaguan.unizar.es:75391 articulos driver 2025-06-12-14:23:36 ARTICLE