Classification of ascending steps and stairs using Time-of-Flight sensor data

This paper proposes a method to analyse human-made environments in order to verify the presence of ascending steps or stairs. Our system is intended to assist visually impaired people by providing acoustic information about the scene in front of a low-resolution Time-of-Flight (ToF) camera that is fixed to a mobile vehicle (rollator). Detailed instructions to the user about potentially hazardous situations are provided. This paper in particular deals with a fast approach on classification of ascending steps in 3D point clouds. This method is part of a system that aims on enhancing visually impaired persons understand the environment and help prevent collisions.