3D graph based stairway detection and localization for mobile robots

Thomas Westfechtel, Kazunori Ohno, Bärbel Mertsching, Daniel Nickchen, Shotaro Kojima, Satoshi Tadokoro

研究成果: Conference contribution

14 被引用数 (Scopus)

抄録

Perception is the main key in enabling robots to react to and interact with their environment. Particularly, for multi-floor operations, the robot must robustly detect and localize stairs to allow for safe climbing. In this paper, we develop a graph-based stairway detection method for point cloud data, that can detect a large variety of stairways. Our approach first segments planar regions and extracts the stair tread- and stair riser-shaped segments. With these segments, a dynamic graph model is initialized that is used to detect stairs including the railing system in the surroundings. We show that our system can accurately detect and localize different stairways from a variety of different positions, including descending stairs. Our system's accuracy is higher than those of most state-oftheart stairway detection methods even in case of sparse point cloud data.

本文言語English
ホスト出版物のタイトルIROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
出版社Institute of Electrical and Electronics Engineers Inc.
ページ473-479
ページ数7
ISBN(電子版)9781509037629
DOI
出版ステータスPublished - 2016 11 28
イベント2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of
継続期間: 2016 10 92016 10 14

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems
2016-November
ISSN(印刷版)2153-0858
ISSN(電子版)2153-0866

Other

Other2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
国/地域Korea, Republic of
CityDaejeon
Period16/10/916/10/14

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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