کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
4968826 | 1449748 | 2017 | 14 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Stairs detection with odometry-aided traversal from a wearable RGB-D camera
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
چشم انداز کامپیوتر و تشخیص الگو
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چکیده انگلیسی
Stairs are one of the most common structures present in human-made scenarios, but also one of the most dangerous for those with vision problems. In this work we propose a complete method to detect, locate and parametrise stairs with a wearable RGB-D camera. Our algorithm uses the depth data to determine if the horizontal planes in the scene are valid steps of a staircase judging their dimensions and relative positions. As a result we obtain a scaled model of the staircase with the spatial location and orientation with respect to the subject. The visual odometry is also estimated to continuously recover the current position and orientation of the user while moving. This enhances the system giving the ability to come back to previously detected features and providing location awareness of the user during the climb. Simultaneously, the detection of the staircase during the traversal is used to correct the drift of the visual odometry. A comparison of results of the stair detection with other state-of-the-art algorithms was performed using public dataset. Additional experiments have also been carried out, recording our own natural scenes with a chest-mounted RGB-D camera in indoor scenarios. The algorithm is robust enough to work in real-time and even under partial occlusions of the stair.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Computer Vision and Image Understanding - Volume 154, January 2017, Pages 192-205
Journal: Computer Vision and Image Understanding - Volume 154, January 2017, Pages 192-205
نویسندگان
A. Perez-Yus, D. Gutierrez-Gomez, G. Lopez-Nicolas, J.J. Guerrero,