Detection and Localization of Curbs and Stairways Using Stereo Vision

— We present algorithms to detect and precisely localize curbs and stairways for autonomous navigation. These algorithms combine brightness information (in the form of edgels) with 3-D data from a commercial stereo system. The overall system (including stereo computation) runs at about 4 Hz on a 1 GHz laptop. We show experimental results and discuss advantages and shortcomings of our approach.

• Type: Conference
• Year: 2005
• Where: ICRA
• Authors: Xiaoye Lu, Roberto Manduchi
• Keywords: Algorithms Combine Brightness, Autonomous Navigation, Commercial Stereo System, ICRA 2005, Robotics