Stair Detector Geo

This is a ROS package that can detect stairs by subscribing a Depth images. It will publish a topic that contains the bouding box of the stairs on the image.

Install

cd 'your_working_space'/src
git clone https://github.com/willdzeng/stair_detector_geo.git
cd ..
catkin_make

Launch

Change the coresponding topic name to your published depth images in the launch file.

<remap from="depth/image" to="/camera/depth/image_rect_color"/>

And then do:

roslaunch stair_detector_geo stiar_detector.launch

Dynamic Reconfigure

This package is dynamic reconfiguable. Just run:

rosrun rqt_reconfigure rqt_reconfigure

Demo Video

https://youtu.be/QT97yNQZ-Wo

Reference

Delmerico, Jeffrey A., et al. "Ascending stairway modeling from dense depth imagery for traversability analysis." Robotics and Automation (ICRA), 2013 IEEE International Conference on. IEEE, 2013.