Method of recognizing stairs in three dimensional data image
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United States of America Patent
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Jan 24, 2017
Grant Date -
May 23, 2013
app pub date -
Nov 6, 2012
filing date -
Nov 23, 2011
priority date (Note) -
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Abstract
A method of recognizing stairs in a 3D data image includes an image acquirer that acquires a 3D data image of a space in which stairs are located. An image processor calculates a riser height between two consecutive treads of the stairs in the 3D data image, identifies points located between the two consecutive treads according to the calculated riser height, and detects a riser located between the two consecutive treads through the points located between the two consecutive treads. Then, the image processor calculates a tread depth between two consecutive risers of the stairs in the 3D data image, identifies points located between the two consecutive risers according to the calculated tread depth, and detects a tread located between the two consecutive risers through the points located between the two consecutive risers.
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