TY - GEN
T1 - Ascending stairway modeling
T2 - 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
AU - Delmerico, Jeffrey A.
AU - Corso, Jason J.
AU - Baran, David
AU - David, Philip
AU - Ryde, Julian
PY - 2012
Y1 - 2012
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84872329625&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84872329625&partnerID=8YFLogxK
U2 - 10.1109/IROS.2012.6386283
DO - 10.1109/IROS.2012.6386283
M3 - Conference contribution
AN - SCOPUS:84872329625
SN - 9781467317375
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4806
EP - 4807
BT - 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Y2 - 7 October 2012 through 12 October 2012
ER -