Plane-based detection of staircases using inverse depth

Australasian Conference on Robotics and Automation, ACRA

Volumn , Issue , 2012, Pages

  Tang, Titus Jia Jie ^a   Lui, Wen Lik Dennis ^a   Li, Wai Ho ^a  

^a MONASH UNIVERSITY   (Australia)

Author keywords

[No Author keywords available]

Indexed keywords

AUTONOMOUS MOBILE SYSTEMS; COMMON FEATURES; FRAMES PER SECONDS; INDOOR ENVIRONMENT; STAIR-CASE DETECTION; TYPE I AND TYPE II ERRORS; URBAN ENVIRONMENTS; VISUALLY IMPAIRED PEOPLE;

ALGORITHMS; INVERSE PROBLEMS; ITERATIVE METHODS; ROBOTICS; THREE DIMENSIONAL COMPUTER GRAPHICS;

STAIRS;

EID: 84879941156     PISSN: 14482053     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (19)

1. A. Albert, M. Suppa, and W. Gerth. Detection of stair dimensions for the path planning of a bipedal robot. In Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics, volume 2, pages 1291-1296, 2001.
2. J. Andersen and E. Seibel. Real-time hazard detection via machine vision for wearable low vision aids. In Proceedings of Fifth International Symposium on Wearable Computers, pages 182-183, 2001.
3. G. Capi and H. Toda. A new robotic system to assist visually impaired people. In IEEE RO-MAN, pages 259-263, 2011.
4. J. A. Delmerico, J. J. Corso, D. Baran, P. David, and J. Ryde. Ascending stairway modeling: A first step toward autonomous multi-floor exploration. In IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012.
5. M. Fair and D. P. Miller. Automated staircase detection, alignment & traversal. In Proceedings of International Conference on Robotics and Manufacturing, pages 218-222, 2001.
6. M. A. Fischler and R. C. Bolles. Random sample consensus: a paradigm for model fitting with applicatios to image analysis and automated cartography. Graphics and Image Processing, 24:381-395, 1981.
7. J. S. Gutmann, M. Fukuchi, and M. Fujita. Stair climbing for humanoid robots using stereo vision. In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, volume 2, pages 1407-1413, 2004.
8. D. C. Hernandez and K. H. Jo. Outdoor stairway segmentation using vertical vanishing point and directional filter. In International Forum on Strategic Technology, pages 82-86, 2010.
9. J. A. Hesch, G. L. Mariottini, and S. I. Roumeliotis. Descending-stair detection, approach, and traversal with an autonomous tracked vehicle. In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 5525-5531, 2010.
10. A. Hub, J. Diepstraten, and T. Ertl. Augmented indoor modeling for navigation support for the blind. In Proceedings of CPSN International Conference on Computers for People with Special Needs, pages 54-59, 2005.
11. W. L. D. Lui, T. J. J. Tang, T. Drummond, and W. H. Li. Robust egomotion estimation using icp in inverse depth coordinates. In IEEE International Conference on Robotics and Automation, 2012.
12. E. Mihankhah, A. Kalantari, E. Aboosaeedan, H. Taghirad, S. Ali, and A. Moosavian. Autonomous staircase detection and stair climbing for a tracked mobile robot using fuzzy controller. In Proceedings of IEEE International Conference on Robotics and Biomimetics, pages 1980-1985, 2009.
13. N. Molton. Robotic sensing for the partially sighted. Robotics and Autonomous Systems, 26:185-201, 1999.
14. D. Nister. Preemptive ransac for live structure and motion estimation. Machine Vision and Applications, 16:321-329, 2005.
15. R. Ray, B. Bepari, and S. Bhaumik. On design and development of an intelligent mobile robotic vehicle for stair-case navigation. Intelligent Autonomous Systems, 275:87-122, 2010.
16. S. Se and M. Brady. Vision-based detection of stair-cases. In Proceedings of Asian Conference on Computer Vision, pages 535-540, 2000.
17. T. J. J. Tang, W. L. D. Lui, and W. H. Li. A lightweight approach to 6-dof plane-based egomotion estimation using inverse depth. In Australasian Conference on Robotics and Automation, 2011.
18. C. Theeravithayangkura, T. Takubo, Y. Mae, and T. Arai. Stair recognition with laser range scanning by limb mechanism robot "ASTERISK". In Proceedings of IEEE International Conference on Robotics and Biomimetics, pages 915-920, 2008.
19. S. Wang and H. Wang. 2d staircase detection using real adaboost. In 7th International Conference on Information, Communications and Signal Processing, 2009.