Accession Number:

ADA581699

Title:

Toward Autonomous Multi-floor Exploration: Ascending Stairway Localization and Modeling

Descriptive Note:

Final rept.

Corporate Author:

ARMY RESEARCH LAB ADELPHI MD COMPUTATIONAL AND INFORMATION SCIENCES DIRECTORATE

Report Date:

2013-03-01

Pagination or Media Count:

32.0

Abstract:

Localization and modeling of stairways by mobile robots can enable multi-floor exploration for those platforms capable of stair traversal. No system yet presented is capable of localizing a stairway on a map and estimating its properties, two functions that would enable stairways to be considered as traversable terrain in a path planning algorithm. We propose a system for detecting and modeling an ascending stairway while performing simultaneous localization and mapping. We design a generative model of a stairway as a single object and localize it with respect to the map, as well as estimate the dimensions of its steps. Modeling the stairway as a whole will enable exploration of higher floors of a building by allowing the stairway to be incorporated into path planning by considering it as a portal to new frontiers. Our system consists of two parts a computationally efficient detector that leverages geometric cues from depth imagery to detect sets of ascending stairs, and a stairway modeler that uses multiple detections to infer the location and parameters of a stairway that is discovered during exploration. We demonstrate the performance of this system when deployed on several mobile platforms.

Subject Categories:

  • Cybernetics
  • Navigation and Guidance

Distribution Statement:

APPROVED FOR PUBLIC RELEASE