To install the repository:
Go to main directory
mkdir build
cd build
cmake ..
make -j8
2 example situation are given in the repository. To test them use:
./stair_det ../examples/13-Depth.pcd ../examples/13-Result.pcd
./stair_det ../examples/25-Depth.pcd ../examples/25-Result.pcd
Depending on the accuracy of the employed LIDAR some parameters need to be tuned accordingly. Most important are the parameters of the region growing algorithm in src/regiongrowing.h
This is the stand-alone version of the Stairway Detection. A version including a GUI can be found at: https://github.com/ThomasWestfechtel/StairwayDetectionGUI
The processing steps of the algorihm are explained in our papers:
"Robust stairway-detection and localization method for mobile robots using a graph-based model and competing initializations" (https://journals.sagepub.com/doi/full/10.1177/0278364918798039) (IJRR)
"3D graph based stairway detection and localization for mobile robots" (http://ieeexplore.ieee.org/document/7759096/) (IROS).
