Stair case perception using monoscopic vision for a teleoperated vehicle

Abstract

This paper presents our approach to staircase detection and perception using monoscopic vision. The simulation of the proposed algorithm is conducted on a 4 degree of freedom teleoperated vehicle. The presented solution can detect a staircase and calculate its angle of inclination thus aiding the operator in setting up controls for the vehicle. The approach relies on multiple 5×5 masks to actively predict staircase from the front then by a combination of blob detecting algorithms predict the angle of inclination. One of the challenges was to make the algorithm efficient so that it can be implemented on low power embedded systems. Results of simulations on various acquired images have been discussed within the contents of the paper. The results have been validated by monitoring values over multiple & different staircases. MATLAB's image processing toolbox has been used to conduct simulations of the algorithm.