Stairway tracking based on automatic target selection using directional filters

Abstract

In this paper we are proposing to detect the localization and recognition of an indoor stairway. This is a fundamental step in the implementing of autonomous stair climbing navigation, as well as the implementing of passive alarm systems intended for the blind and visually impaired. Both of these systems must be able to recognize parameters that can describe stairways in unknown environments. This method analyzes the edges of a stairway based on planar motion tracking and directional filters. We extracted the horizontal edge of the stairs by using the Gabor Filter. From the specified set of horizontal line segments, we extracted a hypothetical set of targets by using the correlation method. Finally, we are proposing the use of the discrimination method to find the ground plane, using the behavioral distance measurement. Consequently, the remaining information is considered as an indoor stairway candidate region. After the stairway candidate region was obtained by applying our approach mentioned in the previous step, we proceeded with the candidate assessment tracking, based on the criterion of the minimum displaced frame difference, ground truth, as well as the rigidity of the stair. As a result, testing was able to prove its effectiveness.