Title :
A staircase detection method for 3D point clouds
Author :
Sinha, Arnab ; Papadakis, Panagiotis ; Elara, Mohan Rajesh
Author_Institution :
Singapore Univ. of Technol. & Design, Singapore, Singapore
Abstract :
Staircase detection in an important ability required by indoor robots, allowing for multi-floor exploration in 3D environments. We present an algorithm for stair-case detection from point-cloud data based on a new minimal 3D map representation and the estimation of step-like features that are grouped based on adjacency in order to emerge dominant staircase structures. Experiments performed using noisy RGB-D sensor data from robot exploration trials showed a reliable detection performance under varying conditions.
Keywords :
computer graphics; estimation theory; image colour analysis; object detection; 3D environment; 3D map representation; 3D point clouds; detection performance; indoor robot; multifloor exploration; noisy RGB-D sensor data; point-cloud data; robot exploration trial; staircase detection method; staircase structure; step-like feature estimation; varying condition; Conferences; Feature extraction; Image color analysis; Robot kinematics; Robot sensing systems; Three-dimensional displays;
Conference_Titel :
Control Automation Robotics & Vision (ICARCV), 2014 13th International Conference on
DOI :
10.1109/ICARCV.2014.7064381
