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- W282084552 abstract "Abstract : Localization and modeling of stairways by mobile robots can enable multi-floor exploration for those platforms capable of stair traversal. No system yet presented is capable of localizing a stairway on a map and estimating its properties, two functions that would enable stairways to be considered as traversable terrain in a path planning algorithm. We propose a system for detecting and modeling an ascending stairway while performing simultaneous localization and mapping. We design a generative model of a stairway as a single object and localize it with respect to the map, as well as estimate the dimensions of its steps. Modeling the stairway as a whole will enable exploration of higher floors of a building by allowing the stairway to be incorporated into path planning by considering it as a portal to new frontiers. 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. We demonstrate the performance of this system when deployed on several mobile platforms." @default.
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- W282084552 date "2013-03-01" @default.
- W282084552 modified "2023-09-26" @default.
- W282084552 title "Toward Autonomous Multi-floor Exploration: Ascending Stairway Localization and Modeling" @default.
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- W282084552 doi "https://doi.org/10.21236/ada581699" @default.
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