STAIR DETECTION AND MODELLING FROM A WEARABLE DEPTH CAMERA

In this work we propose a method to detect, locate and parametrise stairs with a wearable RGB-D camera. Our algorithm detects if the horizontal planes in the scene are steps of a staircase judging their dimensions and relative positions. With these planes we obtain a scaled model of the staircase with the spatial location and orientation with respect to the subject. Experiments show that the system is able to perform in real-time and works even under partial occlusions of the stairway. 1