STAIRS RECOGNITION METHOD FOR THREE DIMENSION DATA IMAGE

摘要

PURPOSE: A stair recognizing method of a three-dimensional data image is provided to recognize a stair by detecting a flat surface and a wall of the stair from the three-dimensional data image. CONSTITUTION: An image obtaining unit obtains a three-dimensional data image of a space including stairs(S110). An image processing unit calculates an equation for a flat surface including the stairs from the three-dimensional data image by using an RANSAC(Random Sample Consensus) algorithm(S120). The image processing unit starts stair recognition(S130). The image processing unit detects a wall between two flat surfaces(S140). The image processing unit detects a flat surface(S150). [Reference numerals] (AA) Start; (BB) No; (CC) Yes; (DD) End; (S110) Obtain a three-dimensional data image; (S120) Detect a ground plane; (S130) Determine the entry of stairs; (S140) Detect a wall surface; (S150) Detect a flat surface; (S160) Exit of stairs?