Stair Detection Algorithm Using Depth Line Profile for the Autonomous Inter-floor Movement of the Multi-legged Robot

This paper presents a method of perceiving stairs of staircase environments for overcoming the unstructured rough terrain environment in outdoor autonomous robots. Using depth line profile and one-dimensional signal processing technologies, the proposed method classifies the faced environment into upstairs, downstairs, and flat ground and detects the tread of each stair. To demonstrate the validity of the proposed method, this paper presents the experimental results on the image dataset and real-time video data.