Stairs detection with odometry-aided traversal from a wearable RGB-D camera
Stairs detection with odometry-aided traversal from a wearable RGB-D camera
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DOI：
10.1016/j.cviu.2016.04.007
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发表时间：
2017-01-01
影响因子：
4.5
通讯作者：
Guerrero, J. J.
中科院分区：
文献类型：
--
作者：
Perez-Yus, A.;Gutierrez-Gomez, D.;Guerrero, J. J.
楼梯是人造场景中最常见的结构之一，但对于视力有问题的人来说也是最危险的结构之一。在这项工作中，我们提出了一个完整的方法来检测，定位和参数化楼梯与可穿戴RGB-D相机。我们的算法使用的深度数据，以确定是否在场景中的水平面是一个楼梯的有效步骤，判断他们的尺寸和相对位置。因此，我们得到一个缩放模型的楼梯的空间位置和方向相对于主题。还估计视觉里程以在移动时连续地恢复用户的当前位置和取向。这增强了系统的能力，使其能够返回到先前检测到的特征，并在攀爬期间提供用户的位置意识。同时，在遍历过程中的楼梯的检测被用来校正视觉里程的漂移。使用公共数据集对楼梯检测与其他最先进算法的结果进行比较。我们还进行了其他实验，在室内场景中使用胸部安装的RGB-D相机记录我们自己的自然场景。该算法具有足够的鲁棒性，即使在楼梯部分遮挡的情况下也能实时工作。(C)2016 Elsevier Inc. All rights reserved.
Stairs are one of the most common structures present in human-made scenarios, but also one of the most dangerous for those with vision problems. In this work we propose a complete method to detect, locate and parametrise stairs with a wearable RGB-D camera. Our algorithm uses the depth data to determine if the horizontal planes in the scene are valid steps of a staircase judging their dimensions and relative positions. As a result we obtain a scaled model of the staircase with the spatial location and orientation with respect to the subject. The visual odometry is also estimated to continuously recover the current position and orientation of the user while moving. This enhances the system giving the ability to come back to previously detected features and providing location awareness of the user during the climb. Simultaneously, the detection of the staircase during the traversal is used to correct the drift of the visual odometry. A comparison of results of the stair detection with other state-of-the-art algorithms was performed using public dataset. Additional experiments have also been carried out, recording our own natural scenes with a chest-mounted RGB-D camera in indoor scenarios. The algorithm is robust enough to work in real-time and even under partial occlusions of the stair. (C) 2016 Elsevier Inc. All rights reserved.