Detection and Localization of Curbs and Stairways Using Stereo Vision
Xiaoye Lu, Roberto Manduchi · 2006
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.