Stairs detection with odometry-aided traversal from a wearable RGB-D camera

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• 作者：A. Perez-Yus ; ^{alperez@unizar.es} ; D. Gutierrez-Gomez ^{danielgg@unizar.es} ; G. Lopez-Nicolas ^{gonlopez@unizar.es} ; J.J. Guerrero ^{josechu.guerrero@unizar.es}
• 关键词：Stair detection ; Visually impaired ; RGB-D ; Visual odometry ; Wearable computing
• 刊名：Computer Vision and Image Understanding
• 出版年：2017
• 出版时间：January 2017
• 年：2017
• 卷：154
• 期：Complete
• 页码：192-205
• 全文大小：5441 K
• 卷排序：154

文摘

A novel method to detect stairs with a RGB-D camera is proposed. We get the fully measured model with pose to validate and help in navigation. The system is designed to be wearable and aimed to assist the visually impaired. Visual odometry is computed to enhance the navigation system in video sequences. On-line stair measurements are used to correct the drift of the visual odometry.