Stair Detection Algorithm Using Depth Line Profile for the Autonomous Inter-floor Movement of the Multi-legged Robot

被引：0

作者：

Kim, Byeongjun ^{[1
]}

Yoon, Wonyeol ^{[1
]}

Kwon, Gunam ^{[1
]}

Park, Minjae ^{[1
]}

Kwon, Nam Kyu ^{[1
]}

机构：

[1] Department of Electronics Engineering, Yeungnam University

来源：

Journal of Institute of Control, Robotics and Systems | 2024年 / 30卷 / 08期

关键词：

depth line profile; one-dimensional signal processing; stair detection;

D O I：

10.5302/J.ICROS.2024.24.0118

中图分类号：

学科分类号：

摘要：

This paper presents a method of perceiving stairs of staircase environments for overcoming the unstructured rough terrain environment in outdoor autonomous robots. Using depth line profile and one-dimensional signal processing technologies, the proposed method classifies the faced environment into upstairs, downstairs, and flat ground and detects the tread of each stair. To demonstrate the validity of the proposed method, this paper presents the experimental results on the image dataset and real-time video data. © ICROS 2024.

引用

页码：780 / 786

页数：6

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