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dc.contributor.authorCáceres Hernández, Danilo
dc.contributor.authorHyun Jo, Kang
dc.date.accessioned2018-06-27T20:38:00Z
dc.date.available2018-06-27T20:38:00Z
dc.date.issued10/13/2010
dc.identifierhttps://ieeexplore.ieee.org/abstract/document/5667914/
dc.identifier.urihttp://ridda2.utp.ac.pa/handle/123456789/5079
dc.descriptionIn this paper we propose to detect the localization and recognition of outdoor stairway. This problem is the most fundamental step in solving the problem of autonomous stair climbing navigation. An autonomous system must be able to recognize parameters that can describe stairways in unknown environments. First, we proposed to extract the longest segments of diagonal lines from the edge image in order to identify a set of diagonal line segments candidate. This can provide information itself. Based on the vanishing point we defined the area where the stair candidate is located. We then applied the Gabor filter to detect the horizontal line. Finally, after combining the previous two steps, the algorithm defined the candidate stair area in the image. A set of stair images were used within a variety of conditions in our proposed method. As a result, testing was able to prove its effectiveness.en_US
dc.description.abstractIn this paper we propose to detect the localization and recognition of outdoor stairway. This problem is the most fundamental step in solving the problem of autonomous stair climbing navigation. An autonomous system must be able to recognize parameters that can describe stairways in unknown environments. First, we proposed to extract the longest segments of diagonal lines from the edge image in order to identify a set of diagonal line segments candidate. This can provide information itself. Based on the vanishing point we defined the area where the stair candidate is located. We then applied the Gabor filter to detect the horizontal line. Finally, after combining the previous two steps, the algorithm defined the candidate stair area in the image. A set of stair images were used within a variety of conditions in our proposed method. As a result, testing was able to prove its effectiveness.en_US
dc.language.isoenen_US
dc.rightsinfo:eu-repo/semantics/restrictedAccess
dc.subjectRobotsen_US
dc.titleOutdoor stairway segmentation using vertical vanishing point and directional filteren_US
dc.typeinfo:eu-repo/semantics/articleen_US
dc.typeinfo:eu-repo/semantics/article
dc.typeinfo:eu-repo/semantics/publishedVersion


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