2016
3D graph based stairway detection and localization for mobile robots
Thomas Westfechtel, Kazunori Ohno, Bärbel Mertsching, Daniel Nickchen, Shotaro Kojima, Satoshi Tadokoro
IROS 2016poster
Perception is the main key in enabling robots to react to and interact with their environment. Particularly, for multi-floor operations, the robot must robustly detect and localize stairs to allow for safe climbing. In this paper, we develop a graph-based stairway detection method for point cloud da…