Staircase Localization for Autonomous Exploration in Urban Environments

arXiv:2403.17330v1 Announce Type: new
Abstract: A staircase localization method is proposed for robots to explore urban environments autonomously. The proposed method employs a modular design in the form of a cascade pipeline consisting of three modules of stair detection, line segment detection, and stair localization modules. The stair detection module utilizes an object detection algorithm based on deep learning to generate a region of interest (ROI). From the ROI, line segment features are extracted using a deep line segment detection …

abstract arxiv autonomous cs.cv design detection environments exploration explore form line localization modular modules pipeline robots segment type urban