Vision-based Ascending Staircase Detection with Interpretable Classification Model for Stair Climbing Robots
Kangneoung Lee,Vishnu Kalyanram,Chuanqi Zhengl,Siddharth Sane,Kiju Lee,Kangneoung Lee,Vishnu Kalyanram,Chuanqi Zhengl,Siddharth Sane,Kiju Lee
Robots capable of traversing flights of stairs play an important role in both indoor and outdoor applications. The capability of accurately identifying a staircase is one of the vital technical functions in these robots. This paper presents a vision-based ascending stair detection algorithm using RGB-Depth (RGB-D) data based on an interpretable model. The method follows the four steps: 1) pre-proc...
