Patent ID: 9552640
Date: 2017-01-24
CPC Classifications: G06T,H04N

Claim:
1. A method of recognizing stairs in a 3D data image, the method comprising: acquiring, by an image sensor, a 3D data image of a space in which stairs are located; calculating, by an image processor, a riser height between two consecutive treads of the stairs in the 3D data image, identifying points located between the two consecutive treads according to the calculated riser height, and detecting a riser located between the two consecutive treads through the points located between the two consecutive treads by limiting an equation of a first tread of the stairs using parallelism of a ground plane and the first tread and estimating an equation of the first tread through points located at a range of riser heights from the ground plane; calculating, by the image processor, a tread depth between two consecutive risers of the stairs in the 3D data image, identifying points located between the two consecutive risers according to the calculated tread depth, and detecting a tread located between the two consecutive risers through the points located between the two consecutive risers; and applying, by the image processor, the detected riser and the detected tread to a path for traveling the stairs.