Outdoor stairway segmentation using vertical vanishing point and directional filter
In 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 environm...
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| Format: | article |
| Language: | English |
| Published: |
2018
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| Online Access: | https://ieeexplore.ieee.org/abstract/document/5667914/ http://ridda2.utp.ac.pa/handle/123456789/5079 |
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| _version_ | 1869652473261588480 |
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| author | Cáceres Hernández, Danilo |
| author2 | Hyun Jo, Kang |
| author2_role | author |
| author_browse | Cáceres Hernández, Danilo Hyun Jo, Kang |
| author_facet | Cáceres Hernández, Danilo Hyun Jo, Kang |
| author_role | author |
| collection | Repositorio Institucional de documento digitales de acceso abierto de la UTP |
| dc.creator.none.fl_str_mv | Cáceres Hernández, Danilo Hyun Jo, Kang |
| dc.date.none.fl_str_mv | 10/13/2010 10/13/2010 2018-06-27T20:38:00Z 2018-06-27T20:38:00Z 2018-06-27T20:38:00Z 2018-06-27T20:38:00Z |
| dc.format.none.fl_str_mv | application/pdf text/html |
| dc.identifier.none.fl_str_mv | https://ieeexplore.ieee.org/abstract/document/5667914/ http://ridda2.utp.ac.pa/handle/123456789/5079 http://ridda2.utp.ac.pa/handle/123456789/5079 |
| dc.language.none.fl_str_mv | eng |
| dc.rights.none.fl_str_mv | info:eu-repo/semantics/embargoedAccess |
| dc.source.none.fl_str_mv | reponame:Repositorio Institucional de documento digitales de acceso abierto de la UTP instname:Universidad Tecnológica de Panamá instacron:U Tecnológica de Panamá |
| dc.subject.none.fl_str_mv | Robots Robots |
| dc.title.none.fl_str_mv | Outdoor stairway segmentation using vertical vanishing point and directional filter |
| dc.type.none.fl_str_mv | info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion |
| description | In 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. |
| eu_rights_str_mv | embargoedAccess |
| format | article |
| id | lrtest_b0418fcdeee0556ebcc7b7a94cd25872 |
| instacron_str | U Tecnológica de Panamá |
| institution | U Tecnológica de Panamá |
| instname_str | Universidad Tecnológica de Panamá |
| language | eng |
| network_acronym_str | lrtest |
| network_name_str | lr |
| oai_identifier_str | oai:ridda2.utp.ac.pa:123456789/5079 |
| publishDate | 2018 |
| publishDateSort | 2018 |
| reponame_str | Repositorio Institucional de documento digitales de acceso abierto de la UTP |
| repository.mail.fl_str_mv | |
| repository.name.fl_str_mv | |
| repository_id_str | |
| spelling | Outdoor stairway segmentation using vertical vanishing point and directional filterCáceres Hernández, DaniloHyun Jo, KangRobotsRobotsIn 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.In 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.2018-06-27T20:38:00Z2018-06-27T20:38:00Z2018-06-27T20:38:00Z2018-06-27T20:38:00Z10/13/201010/13/2010info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdftext/htmlhttps://ieeexplore.ieee.org/abstract/document/5667914/http://ridda2.utp.ac.pa/handle/123456789/5079http://ridda2.utp.ac.pa/handle/123456789/5079enginfo:eu-repo/semantics/embargoedAccessreponame:Repositorio Institucional de documento digitales de acceso abierto de la UTPinstname:Universidad Tecnológica de Panamáinstacron:U Tecnológica de Panamáoai:ridda2.utp.ac.pa:123456789/50792021-07-06T15:34:54Z |
| spellingShingle | Outdoor stairway segmentation using vertical vanishing point and directional filter Cáceres Hernández, Danilo Robots Robots |
| status_str | publishedVersion |
| title | Outdoor stairway segmentation using vertical vanishing point and directional filter |
| title_full | Outdoor stairway segmentation using vertical vanishing point and directional filter |
| title_fullStr | Outdoor stairway segmentation using vertical vanishing point and directional filter |
| title_full_unstemmed | Outdoor stairway segmentation using vertical vanishing point and directional filter |
| title_short | Outdoor stairway segmentation using vertical vanishing point and directional filter |
| title_sort | Outdoor stairway segmentation using vertical vanishing point and directional filter |
| topic | Robots Robots |
| url | https://ieeexplore.ieee.org/abstract/document/5667914/ http://ridda2.utp.ac.pa/handle/123456789/5079 |