Posture independent stair parameter estimation

This paper proposes a method to analyse humanmade environments in order to identify ascending steps and stairs and recognize their parameters. The system uses adjustable 3D environment geometries for the detection of steps and estimates tread depth and width, riser height and yaw orientation from the camera to staircase. Those parameters are needed by humanoid robots to ensure a safe traversal of staircases. The camera perceives the scene in front of a mobile vehicle with a system that is originally designed to provide visually impaired and furthermore disabled people with detailed information about potentially hazardous situations. Since most of the affected persons might not want to traverse staircases, this work is mostly suitable to be used for multifloor exploring humanoid robots. Experiments substantiate the ability to provide good parameters, independent from posture to staircases. This even works with relatively large distances to staircases (≥ 2m) and enables an early adaptation of navigation.