Paper Info
Title
Autonomous RGBD-based Industrial Staircase Localization from Tracked Robots.
Abstract
This paper presents an industrial staircase localization algorithm based on RGBD data from a tracked robot. This situation is really challenging as the camera is placed close to the ground. Moreover, RGBD can be really noisy on sparse staircases. Contrary to existing works, our evaluation relies on ground truth data provided by a motion capture system. Our experiments suggest that our algorithm can robustly locate industrial staircase. We also propose a new framework to evaluate stair localization performance from RGBD data. The overall performance allows to safety control a robot to rally the staircase.
Year
DOI
Venue
2020
10.1109/IROS45743.2020.9340941
IROS
DocType
Citations 
PageRank 
Conference
0
0.34
References 
Authors
0
4
Name
Order
Citations
PageRank
Jérémy Fourre100.34
Vincent Vauchey210.68
Yohan Dupuis36110.12
Xavier Savatier411817.42