TY - GEN
T1 - 3D graph based stairway detection and localization for mobile robots
AU - Westfechtel, Thomas
AU - Ohno, Kazunori
AU - Mertsching, Bärbel
AU - Nickchen, Daniel
AU - Kojima, Shotaro
AU - Tadokoro, Satoshi
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/11/28
Y1 - 2016/11/28
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85006508327&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85006508327&partnerID=8YFLogxK
U2 - 10.1109/IROS.2016.7759096
DO - 10.1109/IROS.2016.7759096
M3 - Conference contribution
AN - SCOPUS:85006508327
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 473
EP - 479
BT - IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Y2 - 9 October 2016 through 14 October 2016
ER -