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- W2008910040 abstract "Many robotics platforms are capable of ascending stairways, but all existing approaches for autonomous stair climbing use stairway detection as a trigger for immediate traversal. In the broader context of autonomous exploration, the ability to travel between floors of a building should be compatible with path planning, such that the robot can traverse a stairway at a time that is appropriate to its navigation goals. No system yet presented is capable of both localizing stairways on a map and estimating their properties, functions that in combination would enable stairways to be considered as traversable terrain in a path planning algorithm. We propose a method for modeling stairways as objects and localizing them on a map, such that they can be subsequently traversed if they are of dimensions that the robotic platform is capable of climbing. Our system consists of two parts: a computationally efficient detector that leverages geometric cues from depth imagery to detect sets of ascending stairs, and a stairway modeler that uses multiple detections to infer the location and parameters of a stairway that is discovered during exploration. This video demonstrates the performance of the system in a number of real-world situations, modeling and localizing a variety of stairway types in both indoor and outdoor environments." @default.
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- W2008910040 date "2012-10-01" @default.
- W2008910040 modified "2023-10-01" @default.
- W2008910040 title "Ascending stairway modeling: A first step toward autonomous multi-floor exploration" @default.
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- W2008910040 doi "https://doi.org/10.1109/iros.2012.6386283" @default.
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