Plane-based detection of staircases using inverse depth

  title={Plane-based detection of staircases using inverse depth},
  author={Titus Jia Jie Tang and Wen Lik Dennis Lui and Wai Ho Li},
Staircases are a common feature in urban environments. Nevertheless they often pose a navigational challenge to both visually impaired people and autonomous mobile systems. In this paper, we propose a plane-based approach to the problem of staircase detection using depth data in inverse depth coordinates. This forms a basis for our long term goal of assisting visually impaired people in navigating indoor environments. Our proposed algorithm iteratively uses Preemptive RANSAC in a segment… CONTINUE READING
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